The best way is probably to create a device that connects via WiFi. I went along this route, and everything turned out well. If you need to interact with the RS-232 interface, you can create an intermediate “adapter” that connects via WiFi to an iOS device and through RS-232 to another device.
If you don’t need to distribute your application through the App Store, you can use the Redpark iOS serial cable: http://redpark.com/c2db9.html , (Disclaimer, I have never tried one, but according to someone from Redpark, jailbreak is not required, you just can’t distribute your application in the app store.)
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