Refactor serial helpers to make resets easier

We were experience issues where the readPicture command would become
unresponsive after exactly 10 reads 32 bytes in size. We were able to
"solve" this by simply closing and re-opening the serial connection file
descriptor after reading a block. This may be a limitation in the le_tty
interface meaning it may be worth implementing this using only Linux
system calls (e.g open et al).

The sendCommand function now pays attention to the return status of the
calls to fd helpers.

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