I plan eventually to use two raspberry pi's to control motors, but that part of the code in main.cpp can be ignored.

myserver.cpp

#include <QtNetwork>
#include <QAbstractSocket>
#include "myserver.h"

myServer::myServer(QObject *parent) :
    QObject(parent)
{

    server = new QTcpServer(this);
    connect(server, &QTcpServer::newConnection, this, &myServer::newConnection);

    if(!server->listen(QHostAddress("127.0.0.1"), 1234))
    {
        qDebug() << "Server could not Start!";
    }
    else {
        qDebug() << "Server Started!";
    }
}


void myServer::newConnection()
{
    QTcpSocket *socket = server->nextPendingConnection();
    socket->write("hullo client\r\n");
    socket->flush();
    socket->waitForBytesWritten(3000);
    socket->close();
}

myserver.h

#ifndef MYSERVER_H
#define MYSERVER_H
#include <QtNetwork>
#include <QDebug>


class myServer: public QObject
{

    Q_OBJECT

public:
    explicit myServer(QObject *parent = 0); 

public slots:
    void newConnection();
    void handleReadyRead();

private:
    QTcpServer *server;

};

#endif // MYSERVER_H

main.cpp

#include <QGuiApplication>
#include <QQmlApplicationEngine>
#include <myserver.h>
#include <clientsocket.h>

//Define Roles here.
#define ROLE_MOTOR_CONTROLLER 1
#define ROLE_COMMAND_SENDER 2

//#define CURRENT_ROLE ROLE_COMMAND_SENDER
#define CURRENT_ROLE ROLE_MOTOR_CONTROLLER

//Use above line to change Motor Controller (server, RPI 1) or Command Sender (client, RPI 2).

int main(int argc, char *argv[])
{
#if QT_VERSION < QT_VERSION_CHECK(6, 0, 0)
    QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
#endif

    QGuiApplication app(argc, argv);

    if (CURRENT_ROLE == ROLE_MOTOR_CONTROLLER) {
        // Initialize and start the server (Motor Controller)
        myServer mServer;
        // Create an instance of MotorController and start the Qt event loop
    } else if (CURRENT_ROLE == ROLE_COMMAND_SENDER) {
        // Initialize and start the socket (Command Sender)

        clientSocket mClientSocket;
        mClientSocket.Test();
        // Create an instance of CommandSender and start the Qt event loop
    }

    QQmlApplicationEngine engine;
    const QUrl url(QStringLiteral("qrc:/main.qml"));
    QObject::connect(&engine, &QQmlApplicationEngine::objectCreated,
                     &app, [url](QObject *obj, const QUrl &objUrl) {
        if (!obj && url == objUrl)
            QCoreApplication::exit(-1);
    }, Qt::QueuedConnection);
    engine.load(url);

    return app.exec();
}