Move to JSONP allowed me to use original Koha web interface, and just overlay RFID information and form submission code as simple jQuery snippet.
But, two years of development and trying out different approaches produced not-quite-production-quality code. So, I began rewrite called Biblio::RFID. It splits RFID reader support from HTTP and JSONP servers and couples this with documentation and tests. I have production use for it this summer, involving programming of RFID cards as they are printed out, so expect it to change during next few weeks. After that I will push it to CPAN, but I would love to get feedback and comments before that.
Update: It's also availale at CPAN.