Create a simple HTTP server with Java?

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Use Jetty. Here’s the official example for embedding Jetty. (Here’s an outdated tutorial.)

Jetty is pretty lightweight, but it does provide a servlet container, which may contradict your requirement against using an “application server”.

You can embed the Jetty server into your application. Jetty allows EITHER embedded OR servlet container options.

Here is one more quick get started tutorial along with the source code.

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