cleanflight | Clean-code version of the baseflight flight controller firmware

I apologize if this doesn't make sense since I'm still a newbie with using a raspberry pi and this is my first time posting on StackOverflow.

I am making a web app that lets me stream video to and from a raspberry pi while also letting me send keycodes. The sent keycodes would ultimately let me control servos on a drone. After scouring the internet, I figured that the simplest way to stream 2-way video is by using uv4l so I have it installed along with uv4l-webrtc on my raspberry pi. I hooked up some GPIO pins to a flight controller and I am using pigpio to send PWM signals to it, which I then monitor using CleanFlight.

Right now, I can manipulate with keypresses the roll, pitch, etc. of the flight controller using a python script if I access the pi remotely using VNC, but I would like to ultimately be able to do this through my custom web page that is being served by the uv4l-server. I am trying to use the WebRTC Data Channels, but I'm having some trouble understanding what I would need to do to recognize the messages sent through the data channels. I know that the data channels are opened when a video call is initiated and I've tried the test in this link to see if I can indeed send keycodes to the pi (and I can).

My problem right now is that I have no idea where those sent messages go or how I can get them so I can incorporate them into my python script. Would I need to make a server that would listen for the keycodes being sent to the pi?

tl;dr I have a python script on a raspberry pi to control servos on a flight controller using keypresses and a separate webpage that streams video using WebRTC, but I have no idea how to combine them together using WebRTC data channels.

Thanks to @adminkiam for the solution. Here's a version of the python script that now listens to the socket. It's essentially a variation of this code by the person who made pigpio: