First of all, thanks a lot for great help from http://blog.csdn.net/androiddevelop/article/details/11100109;
1. generate R file
aapt package -f -m -J ./gen -S res -M AndroidManifest.xml -I /home/sxs/software/adt-bundle-linux-x86-20140321/sdk/platforms/android-19/android.jar
2. compile aidl file
aidl -I$ANDROID_SDK/platforms/android-19 -ogen/ src/com/mobile/free/aidl/IAddService.aidl
3. compile java files
javac -target 1.5 -bootclasspath $ANDROID_SDK/platforms/android-19/android.jar -d bin src/com/mobile/free/server/*.java gen/com/mobile/free/aidl/*.java gen/com/mobile/free/server/R.java
4. convert .class files into .dex files
dx --dex --output=bin/classes.dex bin/
5. package resource files
aapt package -f -M AndroidManifest.xml -S res -I $ANDROID_SDK/platforms/android-19/android.jar -F bin/resources.ap_
6. generate apk file
apkbuilder bin/projectdemo.apk -v -u -z bin/resources.ap_ -f bin/classes.dex -rf src
But now "apkbuilder" can't be found ant solution can't found. I will continue.