You can configure a stat socket for haproxy in the global section of the configuration file:

global
  daemon
  maxconn 999
  user foobar
  stats socket /var/run/haproxy.stat  # this is the line you want to configure

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You need socat to query data from this socket.

After installing socat and reconfiguring haproxy you can use this socket to query data from it:

• show informations like haproxy version, PID, current connections, session rates, tasks, etc..

  echo "show info" | socat unix-connect:/var/run/haproxy.stat stdio
  

• prints the stats about all frontents and backends (connection statistics etc) in a csv format

  echo "show stat" | socat unix-connect:/var/run/haproxy.stat stdio
  

• indeed the following prints informations about errors if there are any

  echo "show errors" | socat unix-connect:/var/run/haproxy.stat stdio
  

• show open sessions with the used backend/frontend, the source, etc..

  echo "show sess" | socat unix-connect:/var/run/haproxy.stat stdio