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resource "google_cloud_tasks_queue" "default" {
  name     = "cloud-tasks-queue-name"
  location = "us-central1"
}

resource "google_service_account" "default" {
  account_id   = "cloud-run-task-invoker"
  display_name = "Cloud Run Task Invoker"
}

resource "google_cloud_run_service_iam_binding" "default" {
  location = google_cloud_run_v2_service.default.location
  service  = google_cloud_run_v2_service.default.name
  role     = "roles/run.invoker"
  members  = ["serviceAccount:${google_service_account.default.email}"]
}

from typing import Optional

from google.cloud import tasks_v2

def create_http_task_with_token(
    project: str,
    location: str,
    queue: str,
    url: str,
    payload: bytes,
    service_account_email: str,
    audience: Optional[str] = None,
) -> tasks_v2.Task:
    """Create an HTTP POST task with an OIDC token and an arbitrary payload.
    Args:
        project: The project ID where the queue is located.
        location: The location where the queue is located.
        queue: The ID of the queue to add the task to.
        url: The target URL of the task.
        payload: The payload to send.
        service_account_email: The service account to use for generating the OIDC token.
        audience: Audience to use when generating the OIDC token.
    Returns:
        The newly created task.
    """

    # Create a client.
    client = tasks_v2.CloudTasksClient()

    # Construct the request body.
    task = tasks_v2.Task(
        http_request=tasks_v2.HttpRequest(
            http_method=tasks_v2.HttpMethod.POST,
            url=url,
            oidc_token=tasks_v2.OidcToken(
                service_account_email=service_account_email,
                audience=audience,
            ),
            body=payload,
        ),
    )

    # Use the client to build and send the task.
    return client.create_task(
        tasks_v2.CreateTaskRequest(
            parent=client.queue_path(project, location, queue),
            task=task,
        )
    )

google-cloud-tasks==2.13.1

import com.google.cloud.tasks.v2.CloudTasksClient;
import com.google.cloud.tasks.v2.HttpMethod;
import com.google.cloud.tasks.v2.HttpRequest;
import com.google.cloud.tasks.v2.OidcToken;
import com.google.cloud.tasks.v2.QueueName;
import com.google.cloud.tasks.v2.Task;
import com.google.protobuf.ByteString;
import java.io.IOException;
import java.nio.charset.Charset;

public class CreateHttpTaskWithToken {

  public static void main(String[] args) throws IOException {
    // TODO(developer): Replace these variables before running the sample.
    String projectId = "my-project-id";
    String locationId = "us-central1";
    String queueId = "my-queue";
    String serviceAccountEmail =
        "java-docs-samples-testing@java-docs-samples-testing.iam.gserviceaccount.com";
    createTask(projectId, locationId, queueId, serviceAccountEmail);
  }

  // Create a task with a HTTP target and authorization token using the Cloud Tasks client.
  public static void createTask(
      String projectId, String locationId, String queueId, String serviceAccountEmail)
      throws IOException {

    // Instantiates a client.
    try (CloudTasksClient client = CloudTasksClient.create()) {
      String url =
          "https://example.com/taskhandler"; // The full url path that the request will be sent to
      String payload = "Hello, World!"; // The task HTTP request body

      // Construct the fully qualified queue name.
      String queuePath = QueueName.of(projectId, locationId, queueId).toString();

      // Add your service account email to construct the OIDC token.
      // in order to add an authentication header to the request.
      OidcToken.Builder oidcTokenBuilder =
          OidcToken.newBuilder().setServiceAccountEmail(serviceAccountEmail);

      // Construct the task body.
      Task.Builder taskBuilder =
          Task.newBuilder()
              .setHttpRequest(
                  HttpRequest.newBuilder()
                      .setBody(ByteString.copyFrom(payload, Charset.defaultCharset()))
                      .setHttpMethod(HttpMethod.POST)
                      .setUrl(url)
                      .setOidcToken(oidcTokenBuilder)
                      .build());

      // Send create task request.
      Task task = client.createTask(queuePath, taskBuilder.build());
      System.out.println("Task created: " + task.getName());
    }
  }
}

<?xml version='1.0' encoding='UTF-8'?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
  <modelVersion>4.0.0</modelVersion>
  <groupId>com.example.tasks</groupId>
  <artifactId>cloudtasks-snippets</artifactId>
  <packaging>jar</packaging>
  <name>Google Cloud Tasks Snippets</name>

  <!--
    The parent pom defines common style checks and testing strategies for our samples.
    Removing or replacing it should not affect the execution of the samples in anyway.
  -->
  <parent>
    <groupId>com.google.cloud.samples</groupId>
    <artifactId>shared-configuration</artifactId>
    <version>1.2.0</version>
  </parent>

  <properties>
    <maven.compiler.target>1.8</maven.compiler.target>
    <maven.compiler.source>1.8</maven.compiler.source>
    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
  </properties>

  <dependencyManagement>
    <dependencies>
      <dependency>
        <groupId>com.google.cloud</groupId>
        <artifactId>libraries-bom</artifactId>
        <version>26.32.0</version>
        <type>pom</type>
        <scope>import</scope>
      </dependency>
    </dependencies>
  </dependencyManagement>

  <dependencies>
    <dependency>
      <groupId>com.google.cloud</groupId>
      <artifactId>google-cloud-tasks</artifactId>
    </dependency>

    <dependency>
      <groupId>junit</groupId>
      <artifactId>junit</artifactId>
      <version>4.13.2</version>
      <scope>test</scope>
    </dependency>
    <dependency>
      <groupId>com.google.truth</groupId>
      <artifactId>truth</artifactId>
      <version>1.4.0</version>
      <scope>test</scope>
    </dependency>
  </dependencies>
</project>

import (
	"context"
	"fmt"

	cloudtasks "cloud.google.com/go/cloudtasks/apiv2"
	taskspb "cloud.google.com/go/cloudtasks/apiv2/cloudtaskspb"
)

// createHTTPTaskWithToken constructs a task with a authorization token
// and HTTP target then adds it to a Queue.
func createHTTPTaskWithToken(projectID, locationID, queueID, url, email, message string) (*taskspb.Task, error) {
	// Create a new Cloud Tasks client instance.
	// See https://godoc.org/cloud.google.com/go/cloudtasks/apiv2
	ctx := context.Background()
	client, err := cloudtasks.NewClient(ctx)
	if err != nil {
		return nil, fmt.Errorf("NewClient: %w", err)
	}
	defer client.Close()

	// Build the Task queue path.
	queuePath := fmt.Sprintf("projects/%s/locations/%s/queues/%s", projectID, locationID, queueID)

	// Build the Task payload.
	// https://godoc.org/google.golang.org/genproto/googleapis/cloud/tasks/v2#CreateTaskRequest
	req := &taskspb.CreateTaskRequest{
		Parent: queuePath,
		Task: &taskspb.Task{
			// https://godoc.org/google.golang.org/genproto/googleapis/cloud/tasks/v2#HttpRequest
			MessageType: &taskspb.Task_HttpRequest{
				HttpRequest: &taskspb.HttpRequest{
					HttpMethod: taskspb.HttpMethod_POST,
					Url:        url,
					AuthorizationHeader: &taskspb.HttpRequest_OidcToken{
						OidcToken: &taskspb.OidcToken{
							ServiceAccountEmail: email,
						},
					},
				},
			},
		},
	}

	// Add a payload message if one is present.
	req.Task.GetHttpRequest().Body = []byte(message)

	createdTask, err := client.CreateTask(ctx, req)
	if err != nil {
		return nil, fmt.Errorf("cloudtasks.CreateTask: %w", err)
	}

	return createdTask, nil
}

// Imports the Google Cloud Tasks library.
const {CloudTasksClient} = require('@google-cloud/tasks');

// Instantiates a client.
const client = new CloudTasksClient();

async function createHttpTaskWithToken() {
  // TODO(developer): Uncomment these lines and replace with your values.
  // const project = 'my-project-id';
  // const queue = 'my-queue';
  // const location = 'us-central1';
  // const url = 'https://example.com/taskhandler';
  // const serviceAccountEmail = 'client@<project-id>.iam.gserviceaccount.com';
  // const payload = 'Hello, World!';

  // Construct the fully qualified queue name.
  const parent = client.queuePath(project, location, queue);

  const task = {
    httpRequest: {
      headers: {
        'Content-Type': 'text/plain', // Set content type to ensure compatibility your application's request parsing
      },
      httpMethod: 'POST',
      url,
      oidcToken: {
        serviceAccountEmail,
      },
    },
  };

  if (payload) {
    task.httpRequest.body = Buffer.from(payload).toString('base64');
  }

  console.log('Sending task:');
  console.log(task);
  // Send create task request.
  const request = {parent: parent, task: task};
  const [response] = await client.createTask(request);
  const name = response.name;
  console.log(`Created task ${name}`);
}
createHttpTaskWithToken();

{
  "name": "appengine-cloudtasks",
  "description": "Google App Engine Cloud Tasks example.",
  "license": "Apache-2.0",
  "author": "Google Inc.",
  "private": true,
  "engines": {
    "node": ">=16.0.0"
  },
  "files": [
    "*.js"
  ],
  "scripts": {
    "test": "c8 mocha -p -j 2 --timeout 30000",
    "start": "node server.js"
  },
  "dependencies": {
    "@google-cloud/tasks": "^4.0.0",
    "express": "^4.16.3"
  },
  "devDependencies": {
    "c8": "^8.0.0",
    "chai": "^4.2.0",
    "mocha": "^10.0.0",
    "uuid": "^9.0.0"
  }
}