Is it possible to call a command-line utility from a running app on iOS devices?
The utility is a binary executable and is supposed to be included in the app package.
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There already are command line utilities (think iSSH) on the iPhone. If what you mean, however, is “can you use underlying UNIX system utilities” or “run a utility you bundle onto a iPhone shell”, no it’s not possible.
Apart from that, bundling an opensource utility with a closed source application will open interesting legal challenges, you would have to be very attentive to implications of licenses.