You can certainly write a "stub" that is part of the main application - all that you need to do is listen to the relevant communications channel, and respond appropriately to the commands/data being sent.
Here's an article that fairly well describes the process of writing a stub: http://www.embecosm.com/appnotes/ean4/embecosm-howto-rsp-server-ean4-issue-2.html
It also discusses (albeit briefly) the "using a simulator".