C++ Binder without addService()

Is it possible to use C++ Binder API to communicate between two non-privileged processes?

All examples I found (e.g. https://github.com/mcr/Android-HelloWorldService) rely on registering service via ServiceManager->addService() which throws following error when executing on a non-rooted phone:

E/ServiceManager﹕ add_service('my.test.service',0x48) uid=2000 - PERMISSION DENIED

Inside the AOSP (Android Open Source Project) in the file frameworks/native/cmds/servicemanager/service_manager.c you can find the following method:

int svc_can_register(uid_t uid, const uint16_t *name)
{
    size_t n;

    if ((uid == 0) || (uid == AID_SYSTEM))
        return 1;

    for (n = 0; n < sizeof(allowed) / sizeof(allowed[0]); n++)
        if ((uid == allowed[n].uid) && str16eq(name, allowed[n].name))
            return 1;

    return 0;
}

and a bit above:

/* TODO:
 * These should come from a config file or perhaps be
 * based on some namespace rules of some sort (media
 * uid can register media.*, etc)
 */
static struct {
    uid_t uid;
    const char *name;
} allowed[] = {
    { AID_MEDIA, "media.audio_flinger" },
    { AID_MEDIA, "media.log" },
    { AID_MEDIA, "media.player" },
    { AID_MEDIA, "media.camera" },
    { AID_MEDIA, "media.audio_policy" },
    { AID_DRM,   "drm.drmManager" },
    { AID_NFC,   "nfc" },
    { AID_BLUETOOTH, "bluetooth" },
    { AID_RADIO, "radio.phone" },
    { AID_RADIO, "radio.sms" },
    { AID_RADIO, "radio.phonesubinfo" },
    { AID_RADIO, "radio.simphonebook" },
/* TODO: remove after phone services are updated: */
    { AID_RADIO, "phone" },
    { AID_RADIO, "sip" },
    { AID_RADIO, "isms" },
    { AID_RADIO, "iphonesubinfo" },
    { AID_RADIO, "simphonebook" },
    { AID_MEDIA, "common_time.clock" },
    { AID_MEDIA, "common_time.config" },
    { AID_KEYSTORE, "android.security.keystore" },
};

and further down:

if (!svc_can_register(uid, s)) {
    ALOGE("add_service('%s',%x) uid=%d - PERMISSION DENIED\n",
         str8(s), handle, uid);
    return -1;
}

Conclusion: the system binary in /system/bin/servicemanager doesn't allow it. (for security reasons) Possible solutions:

kill and reuse PID and name of service listed
recompile your own servicemanager binary and use this one
inject your code in this binary, to allow everyone
change the PID servicemanager reads (change the ioctl response servicemanager gets in binder.h (same directory))
or just start your server in a binary having root permissions. Clients can connect without root, but the server needs it.