Connect your devices to a pi that has been configured like below.
Download raspbian etc, go through normal setup.
This will let you find your pi locally using it's name, e.g.
sudo apt-get update sudo apt-get install avahi-daemon
Set a static ip
sudo nano /etc/network/interfaces
Then do something clever in here. Aftwards, make sure your ports are forwarded in your router, so the pi can be seen from the outside world.
Because you can't download adb for the pi.
Your development server adb will need to be the same version as the pi adb.
sudo apt-get install git build-essential libncurses5-dev libssl-dev mkdir aosp cd aosp git clone https://android.googlesource.com/platform/system/core.git system/core git clone https://android.googlesource.com/platform/external/zlib.git external/zlib
You might need to checkout a speific brach, tag, or commit here. See this page for branches / tags https://android.googlesource.com/platform/system/core/
cd system/core/adb wget -O Makefile https://gist.github.com/jsonfry/62d59c9cc0295cc8de4f/raw/405031a85521364f3b04cfac435768d6bbc39408/Makefile make adb sudo cp adb /usr/local/bin/
Set correct permissions on adb
sudo chown root:mylovelyusername /usr/local/bin/adb sudo chmod 4550 /usr/local/bin/adb
mkdir ~/.ssh nano ~/.ssh/authorized_keys
cat ~/.ssh/id_rsa.pub on your development machine / ci server / who ever will be connecting to the pi and copy output into the open file