If you’re a rooted user, you’re probably familiar with the ADB command, and that it requires you to connect your phone to your PC with a cable. Enter adbWireles, which allows you to - wait for it - use ADB over WiFi.
The specifics of how it works are pretty technical, but here’s the laymans version provided by the dev (and translated from Spanish by the Goog):
adbWireless is a simple application to enable the wireless interface debug Android. After enabling the connection works as if we had the phone connected via USB. If you do not know which is the ADB (Android Debug Bridge) this program probably is not for you
Anyway, here is information on what it does and how it works.