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This paper presents a communication framework for cross-layer design to improve network performance in the wireless networks. The proposed communication framework consists of the following two things. First, we propose the XCP (eXtensible Cross-layer design Platform) that enables the exchange of information between different layers for performance optimization. Second, the CAR (Cross-layer approach based Adaptive Routing) technique, a practical example of protocol designs on the XCP, is designed to provide end-to-end seamless connections for packet delivery and high TCP performance. Experiments show that our communication framework yields efficient performance in terms of the low failure rate of packet transmission, low packet transmission delay, and high TCP performance in the wireless networks.