Took me a few seconds to find this
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Judging from that error, your connection between the arduino and rio is bad.
Also, an easy option to fix all of this is to use a series of dio ports and just using that set of data as preconfigured commands (e.g, 0010 - flash red quickly)
If this isn't good enough, than as a temporary fix you can wrap the arduino write commands in a thread that just reads from a command queue.
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