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1. root the device
2. install a console app that gives you "su" access
3. install your binary in a file-system with execute permission
4. manually start your service: > my_app &
The manifest can specify hooks for Service implementations, such as to start on-boot, but the platform still requires the implementation of the Service class. One could write a generic NativeService implementation for easy reuse and launching of native processes, but otherwise nothing has changed with the Android platform that I'm aware of.
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