Turns out writing your own simple protocol with Java.io isn't so hard after all. It's actually not so bad when using the lejos JVM's java.io implementation. I can send basic data now, so next thing to do is figure out a tight, simple protocol for specifying method calls and method parameters. In other words, a basic web service model, but skinny ;-)
Now I've got a whole new level of appreciation for real engineers who actually design communication protocols for a living. Phew...
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