Did a quick search on metacpan and found Net::Bonjour. That might help with communicating with the Bonjour stuff.

Did a quick Google search for perl flask and found this blog entry from Sawyer X, where he was comparing Dancer to Flask. Since most of the Dancer developers are concentrating their efforts on Dancer2, I'd recommend that you look into Dancer2 instead of Dancer. Another lightweight web framework that might work for you is Mojolicious. All three frameworks have plug-ins to help create RESTful apps.

With just a quick look at your first link, I'm wondering if you might need to do more work to port that project code from Python to Perl.

Ultimately it looks like you're trying to use Perl to control Arduino devices. If you search CPAN for 'Arduino', you'll find some modules that might help you out. Also, you can try joining the mailing list at Hardware Perl Mongers. Robert Blackwell, who help start that group, has some experience using Perl to communicate with Arduino devices. If you join their mailing list, you might get plenty of help for what you're trying to do.