First ensure that the initial Raspberry Pi setup has been done. Now using the rc.local method, the appropriate Python script shall be run on startup to setup the server. First SSH into the Raspberry Pi and run:
sudo nano /etc/rc.local
Go down to some point just after the comments (that is, before the exit command) and enter:
python /home/pi/SQDdevRPi/SCPI_Server/pi_server.py
noting to modify the directory as appropriate. Now hit CTRL-X, y and ENTER to save the document. After restarting the Raspberry Pi, the SCPI server should be functional.