"depending on the response from the devices." What response? This is probably the most confusing aspect.
"has some differences from true CPAN" - Yes, even you can use CPAN (I expect CPAN modules to still be installable - we do it all the time with the system perl on AIX, so I don't see why openCSW would be worse).
Though, honestly, I prefer ssh over telnet anyway. It's just so easy to run "ssh user@host 'my command here'". But if you need to do both, I'm guessing that you can run "ssh user@host" nearly the same way as you telnet to the host. The major differences are at the beginning: the user won't be asked for, and the password prompt might be different (or not exist at all if you have an ssh key set up properly).
At $work, I use our own ssh wrapper to handle parallelism (using AnyEvent), ssh tunnels, multiple hops (ssh to A, and use that to ssh to B under the ssh key credentials available on A), etc. I didn't find it terribly difficult - at least, not the ssh parts. Unfortunately, your problem description remains a bit vague, so I don't know where to start in sharing.
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