Openwrt Serial Port Programming Java

Hello,
I am a Graduate Student at University of South Florida, Tampa, FLorida. I am working on a project which involves Controlling an Industrial Robot through Internet.
This project, controlling industrial robot online, I have divided in 2 parts:
one - sending data over Internet from any PC to the Robot PC.
I am confident about this first part of the project and plan to do that in Java. And, now I am working on the second part** - sending signals to Robot Controller once we receive the data at Robot PC.
We have a Robot s/w installed on Robot PC called ATS (Advanced Terminal s/w, DOS Based s/w) through which we can send commands to the Robot Controller. The controller is programmed using ACL (Advanced
Control Language). And then the controller generates appropriate signals for the motors to drive the Robot. Also, We have a Robot Interface card installed in Robot PC.
I have thought of 2 ways to achieve the second part** of my project -
one - once we receive instructions from Internet user at Robot PC, give input to the DOS-Based s/w in appropriate format and execute that.
two - once we receive instructions from Internet user at Robot PC, give input directly to Robot Controller in ASCII format (Controller accepts ASCII Chars.)
We don't have any s/w developement kit available for the Robot s/w from the company, so I have to talk to the controller directly, bypassing the s/w.
Our robot (SCORBOT-ER 9, Industrial Robot, # of axes = 5 + Gripper), its controller, and robot s/w, all are manufactured/developed by the same company - Eshed Robotec.com (Now, Intelitek.com)
The PC is connected to the controller through RS232 - serial port, and the controller sends signals to the motors of the robot.
From the PC, ASCII characters are sent to the controller. I have to do 2 things - find out the ASCII characters which are sent to the controller, and then write a Java or C or C++ program to write those
ASCII characters to the serial port. I will find out the ASCII characters going to the controller, with the help of Serial Data Analyzer device or s/w. So, after that, my task is to write a code to write those ASCII characters to the serial port. I am using Java, Java Servlets for the networking part (for getting instructions from the Internet user), so would it be a good idea to do the program of writing ASCII characters to serial port in Java?, so that all the system will be developed in the same language? or C/C++/VC++ are better options for the serial port part? If we choose C/C++/VC++, then interfacing of this with Java is possible?
I would really appreciate your guidance in this regard.
Thanking you in anticipation !
Mayur Pangrekar