/prog/ should take the initiative to lay out the best foundation (as only an anonymous board of expert programmers could do so) by discussing what a TCP protocol for teledildonics should look like... The Teledildonic RFC.
Microcontrollers don't like XML all that much so I'd guess to start with it should be a newline delimited protocol through SLIP as potential endpoints. But maybe XML or S-expr should be an extension? Perhaps we can define a minimal teledildonic virtual machine that executes lisp code... discuss.