Hi,
A few days ago I released code that handles communication between roboRio and RaspberryPi / Odroid over TCP. It's based on the zeromq library, for which a python binding exists I believe. The code itself (C++, for vision tasks) may not be useful but it could give some ideas. And I also provide libmzq.a builds for RaspberryPi, odroid, roborio...
https://github.com/team3990/TechVisionCoproc