ADB Wifi (Root) description

ADB Wifi is a simple tool that enables ADB over TCP.
So you can debug your phone wirelessly instead of having to plug it in.
Just make sure you've connected before and have trusted the dev pc on your phone, then run
adb connect X.X.X.X

This app is open source, GPLv3
You can find the source code here
http://bitbucket.com/m_j/adbwifi