There was a slight delay(1.2 seconds) between sending a request to the server and receiving an OK back from the server as Raspberry Pi switched to doing it's IO Job after receiving the request.

Solution: Used Multithreading to create a new thread that does it's IO job and the other thread returns an "OK" back to the client. Stack Overflow

We used multithreading to open a new thread that repaints the application that displays the Xbox map and also listening to xbox in the same thread which helps us show the users how to control the bot while they control it

Multithreading had to be used again to run the local server in a different thread and running the Simulator window GUI in another thread which runs both the threads simultaneously.