How to exchange SAML assertion for an OAuth token

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I am working on a client's Spring (SAML Authenticated) application backend. I need to embed a restricted Grafana dashboard on the front-end. It's been suggested that I can exchange the SAML Assertion for an OAuth token (JWT format).

I have created a SAML authentication and a OAuth authentication prototype that I can use to grasp this concept.

I can find little information about this exchange, and those that I do find are a little lost on me; I am not a spring expert. Can someone please explain how I would go about doing this, or link me to a tutorial that may be of some assistance.

Thanks in advance.

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