I've been very satisfied with RESTeasy, an implementation of the Java
standard JAX-RS.  It works great on appengine:

http://www.jboss.org/resteasy

Here's a quick example:

@Path("hello")
public class HelloResource
{
   @GET
   @Path("{name}")
   public String hello(@PathParam("name") final String name) {
      return "Hello, " + name;
   }
}

You can return more complicated objects and Jackson (or other mappers,
but I recommend Jackson) will convert them to JSON.

Jeff

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