Android : Connecting from iOS to a remote server

I am working on a project, where I am supposed to make a wireless connection from iOS (iPhone, iPad) to an external device. And I HAVE to do this on iOS, not Android or anything else. I would like to later publish this app on the App Store. At first I wanted to do that by bluetooth, but considering apple's crazy bluetooth MFi policy I gave up.

My next idea is to use wi-fi. The iOS device would connect to the external device through a socket, probably using something like NSStream, CFStream. The external device would be configured as a wi-fi access point, with some kind of a server processing data sent from the iOS app. The processed data would then be used by the external device to move some mechanical parts.

So my big question is, is this OK by the apple policy? Because I'm kinda afraid that I'll start developing this, and then they'll just say "sorry bro, you have to have our ultimate adventure club membership, and 1000+ employees to do that kind of stuff".