The apache tomcat is the easiest binding (no suprise as the API was copied :o) ). Here the servlets run within one external UNO process. An UnoGateway servlet dispatches the incoming requests within tomcat and delegates it to the UNO servletcontainer process.
So it is inevitable to start the seperate UNO servletcontainer to get UNO-servlets running with the tomcat binding. The script can be found at uno_servlets/out_$(PLATFORM)/script/servletcontainerd. If you do modifications within your C++ servlet, it is sufficient to restart just this daemon, the servlet-binding will detect the restart and use the new version of the servlet directly without needing to restart the tomcat.
When you add a new servlet, you must edit the web.xml of your webapplication within tomcat. You need to add a new entry
There is a tool, which extracts all registered servlets from the servlet_services.rdb-file. It is used in the uno_servlets/util/Makefile to generate the web.xml.