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A CSRF filter is enabled by default, validating each modifying request performed through the webapps. The filter implements a (per-session) Synchronization Token method for CSRF validation with an optional Same Origin with Standard Headers verification. In Spring Boot Starter, the configuration needs to be made in the application.yaml. Please read more about it here. If you would like to enable the additional Same Origin with Standard Headers verification, the targetOrigin init-parameter should be set in the web.xml file of your application. That, and some additional optional initialization parameters are: 
  <!-- CSRF Prevention filter -->
  <filter>
    <filter-name>CsrfPreventionFilter</filter-name>
    <filter-class>org.camunda.bpm.webapp.impl.security.filter.CsrfPreventionFilter</filter-class>
    <init-param>
      <param-name>targetOrigin</param-name>
      <param-value>http://example.com</param-value>
    </init-param>
    <init-param>
      <param-name>denyStatus</param-name>
      <param-value>404</param-value>
    </init-param>
    <init-param>
      <param-name>randomClass</param-name>
      <param-value>java.security.SecureRandom</param-value>
    </init-param>
    <init-param>
      <param-name>entryPoints</param-name>
      <param-value>/api/engine/engine/default/history/task/count, /api/engine/engine/default/history/variable/count</param-value>
    </init-param>
    <init-param>
      <param-name>enableSecureCookie</param-name>
      <param-value>true</param-value>               <!-- default value is false -->
    </init-param>
    <init-param>
      <param-name>enableSameSiteCookie</param-name>
      <param-value>true</param-value>               <!-- default value is true -->
    </init-param>
  </filter>
  <filter-mapping>
    <filter-name>CsrfPreventionFilter</filter-name>
    <url-pattern>/*</url-pattern>
  </filter-mapping>
Name Description
targetOrigin Application expected deployment domain: the domain name through which the webapps are accessed. If nothing is set, the Same Origin with Standard Headers verification is not performed.
denyStatus HTTP response status code that is used when rejecting denied request. The default value is 403.
randomClass The name of the class to use to generate tokens. The class must be an instance of java.util.Random. If not set, the default value of java.security.SecureRandom will be used.
entryPoints Entry points are URLs that will not be tested for the presence of a valid token. They are used to provide a way to navigate back to the protected apps after navigating away from them.
enableSecureCookie If set to true, the cookie flag Secure is enabled.
The default value is false.
enableSameSiteCookie If set to false, the cookie flag SameSite is disabled.
The default value is true. The default value of the SameSite cookie is LAX and it can be changed via sameSiteCookieOption configuration property.
sameSiteCookieOption Can be configured either to STRICT or LAX.
Note: This property is ignored when enableSameSiteCookie is set to false.
sameSiteCookieValue A custom value for the cookie property.
Note: This property is ignored when enableSameSiteCookie is set to false.