However, what if one of my processes needs to continuously write to the pipe while the other pipe needs to read?

This example seems to work only for one write and one read. I need multi read and write

void executarComandoURJTAG(int newSock) { int input[2], output[2], estado, d; pid_t pid; char buffer[256]; char linha[1024];

pipe(input);
pipe(output);
pid = fork();

if (pid == 0) {// child

    close(0);
    close(1);
    close(2);
    dup2(input[0], 0);
    dup2(output[1], 1);
    dup2(output[1], 2);

    close(input[1]);
    close(output[0]);
    execlp("jtag", "jtag", NULL);
}

else { // parent
    close(input[0]);
    close(output[1]);
    do {
        read(newSock, linha, 1024);
        /* Escreve o buffer no pipe */
        write(input[1], linha, strlen(linha));
        close(input[1]);
        while ((d = read(output[0], buffer, 255))) {
            //buffer[d] = '\0';
            write(newSock, buffer, strlen(buffer));
            puts(buffer);
        }
        write(newSock, "END", 4);

    } while (strcmp(linha, "quit") != 0);
}

}