public class CustomAuthenticationEntryPoint implements AuthenticationEntryPoint {
    @Override
    public void commence(HttpServletRequest request, HttpServletResponse response,
            AuthenticationException authException) throws IOException, ServletException {
        response.sendError( HttpServletResponse.SC_UNAUTHORIZED, "Unauthorized: Authentication token was either missing or invalid." );
    }
}

public class AuthenticationTokenProcessingFilter extends GenericFilterBean {

    @Autowired UserService userService;
    @Autowired TokenUtils tokenUtils;
    AuthenticationManager authManager;

    public AuthenticationTokenProcessingFilter(AuthenticationManager authManager) {
        this.authManager = authManager;
    }

    @Override
    public void doFilter(ServletRequest request, ServletResponse response,
            FilterChain chain) throws IOException, ServletException {
        @SuppressWarnings("unchecked")
        Map parms = request.getParameterMap();

        if(parms.containsKey("token")) {
            String token = parms.get("token")[0]; // grab the first "token" parameter

            // validate the token
            if (tokenUtils.validate(token)) {
                // determine the user based on the (already validated) token
                UserDetails userDetails = tokenUtils.getUserFromToken(token);
                // build an Authentication object with the user's info
                UsernamePasswordAuthenticationToken authentication = 
                        new UsernamePasswordAuthenticationToken(userDetails.getUsername(), userDetails.getPassword());
                authentication.setDetails(new WebAuthenticationDetailsSource().buildDetails((HttpServletRequest) request));
                // set the authentication into the SecurityContext
                SecurityContextHolder.getContext().setAuthentication(authManager.authenticate(authentication));         
            }
        }
        // continue thru the filter chain
        chain.doFilter(request, response);
    }
}

public interface TokenUtils {
    String getToken(UserDetails userDetails);
    String getToken(UserDetails userDetails, Long expiration);
    boolean validate(String token);
    UserDetails getUserFromToken(String token);
}