Return HTTP Error 401 Code & Skip Filter Chains

I suggest this solution below.

public void doFilter(ServletRequest req, ServletResponse res,
                         FilterChain chain) throws IOException, ServletException {

        HttpServletRequest request = (HttpServletRequest) req;
        final String val = request.getHeader(FOO_TOKEN)

        if (val == null || !val.equals("FOO")) {
            ((HttpServletResponse) response).sendError(HttpServletResponse.SC_UNAUTHORIZED, "The token is not valid.");
        } else {
            chain.doFilter(req, res);
        }
    }