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How to use TCP instead of serial to access KGDB?

I want to use GDB to debug a KGDB device on a remote device. However, typically KGDB operates through a serial connection (target remote /dev/ttyUSB0). To debug the KGDB on the remote device, I wrote a simple Python script that converts the serial connection to TCP. This means that using a program like Telnet, I confirmed that it is possible to connect to the remote device exactly the same as with the serial connection (see the program below).