Deploy a CometD 2.x web application to Tomcat

I was writing a small system to simulate how the multiple data devices from the fields feeding data second by second to web server, and pass though to various clients (desktop, laptop, tablet, smart phones) in real time. The simulation is using data streaming through web servers by using Bayeux in CometD. It works great in jetty 7. However, when I deployed to Tomcat 7, I encountered the following error:

org.apache.catalina.core.StandardWrapperValve invoke
SEVERE: Servlet.service() for servlet [cometd] in context with path [/DevServTest] threw exception
java.lang.IllegalStateException: Not supported.
    at org.apache.catalina.connector.Request.startAsync(
    at org.apache.catalina.connector.Request.startAsync(
    at org.apache.catalina.connector.RequestFacade.startAsync(
    at org.eclipse.jetty.continuation.Servlet3Continuation.suspend(
    at org.cometd.server.transport.LongPollingTransport.handle(
    at org.cometd.server.CometdServlet.service(
    at javax.servlet.http.HttpServlet.service(
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(
    at org.eclipse.jetty.servlets.CrossOriginFilter.handle(
    at org.eclipse.jetty.servlets.CrossOriginFilter.doFilter(
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(
    at org.apache.catalina.core.StandardWrapperValve.invoke(
    at org.apache.catalina.core.StandardContextValve.invoke(
    at org.apache.catalina.authenticator.AuthenticatorBase.invoke(
    at org.apache.catalina.core.StandardHostValve.invoke(
    at org.apache.catalina.valves.ErrorReportValve.invoke(
    at org.apache.catalina.valves.AccessLogValve.invoke(
    at org.apache.catalina.core.StandardEngineValve.invoke(
    at org.apache.catalina.connector.CoyoteAdapter.service(
    at org.apache.coyote.http11.AbstractHttp11Processor.process(
    at org.apache.coyote.AbstractProtocol$AbstractConnectionHandler.process(
    at java.util.concurrent.ThreadPoolExecutor.runWorker(
    at java.util.concurrent.ThreadPoolExecutor$

Although all the programs seem work still, the above error messages are annoying. How can I get rid of the messages?

In theory, CometD 2.x runs natively in Jetty 7.x and in Servlet 3 compliant servlet containers (including Tomcat 7.x) and only need some special configuration for Jetty 6.x and Tomcat 6.x.

In reality, you cannot just copy the war file for CometD 2.x and run from Tomcat 7.x. The challenge on how to embed Jetty 7.x into Tomcat is more on deciding which jars are needed.

Since most of Jetty based web applications are developed using mvn and tested through mvn jetty:run, the dependency are on pom.xml and the target war generated was supposed to include all the jars needed in WEF-INF/lib.

I found the walk-around by using Netbeans to import the mvn project and let Netbeans deploy directly to Tomcat 7. It works for me! Here is a Guide for Deployment Using Netbeans.