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HA-API - Control HAProxy from JavaScript
TCP - socket stats socket ipv4@ level admin Local domain 
UNIX - socket stats socket /tmp/haproxy.sock level admin

You can use socat to export your unix socket as TCP socket. 
Here is the command to do so: 
socat TCP-LISTEN:12345 UNIX-CONNECT:/var/program/program.cmd 

This will create TCP socket listening on port 12345 which will connect to mentioned unix socket of your program.

HAProxyctl - HAProxyctl is a tool to manage the various aspects of HAProxy that can be controlled by means of its socket.
The code gives an overview how to invoke HAProxy unix cmds via TCP socket.

collectd-haproxy - HAProxy stats plugin for collectd