I’m running a WCF service in IIS7 with Username authentication and Message Security.
A client wants but develops using GRAILS. How do they go about connecting and authenticating with the service?
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Grails does not handle web services as part of the core framework. Grails is written in Groovy which allows you to use any Java library out there. I would recommend using one of the JAX-WS implementations of web services for Java. Either CXF or Metro should do what you need.
Essentially you just want to build a client and then call it from the grails application.