Since there are no unpublished APIs being used, no App Store terms are being violated.
You can do a lot when you can send and receive serial data over a port. Millions upon millions of devices that you never see or know about communicate in this very manner.
That credit card terminal on the shop counter has a modem that talks to another computer the old-fashioned way: frequency-keyed tones over a phone line.
Your car has more chips than you think, all talking over a shared serial bus like CAN or DBUS (not the desktop protocol, the Bosch one).
That touchscreen on your smart phone communicates with the host processor over a serial protocol.
In the embedded systems world it's cheaper and easier to use these ancient protocols than to try and install ethernet lines and TCP/IP stacks...just so that your oven can start a bake cycle.