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Not sure if this meets your needs, but mongoose is a pretty cool web server library with WS capability. I've been using it and it seems easy, fast and reliable.
Open socket, serve a html page, implement GET/PUT or find framework that do https://github.com/ipkn/crow
Well, since no one has mentioned it yet, try https://www.webtoolkit.eu/wt - easy peasy to embed a web server in your app. No need to deal with some sort of REST or JS framework. You can add JS if you want, but is not necessary. It is pretty fast to get a basic service up and running.