So basically you could follow this guide to create your own system service:
Since it is a system service, it has all the rights of the system. Therefore, you don't need to edit any manifest file, even to declare it.
Bottom line: You don't need to edit any xml files to create custom system services.
Next, I'd suggest digging thru the accessibility service available under services/ in the source code to see what you need. Generally, there are ways for system services to call other system services (for. e.g. activity manager calling window manager). therefore, I expect that there would be a similar technique for your custom service calling the a11y service.
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Shameless plug here, but I have a book on system programming from a while ago ("Android Systems Development HowTo"), but that was on gingerbread 2.3. There are basic concepts there, but at this point the current android source code has moved on from what was true for GB (It's hard keeping pace with Android!)
There is also "Embedded Android" by karim yaghmour but I havent checked to see how up to date that is.