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Deprecate ListenableFuture in favor of CompletableFuture
This commit deprecates ListenableFuture in favor of CompletableFuture. ListenableFuture was introduced in Spring Framework 4.0, when CompletableFuture was not yet available. Spring now requires JDK 17, so having our own type no longer seems necessary. Major changes in this commit include: - Deprecation of ListenableFuture and related types (ListenableFutureCallback, SettableListenableFuture, etc.) - Deprecation of AsyncListenableTaskExecutor in favor of default methods in AsyncTaskExecutor (submitCompletable). - AsyncHandlerMethodReturnValueHandler now has toCompletableFuture instead of toListenableFuture. - WebSocketClient now has execute methods, which do the same as doHandshake, but return CompletableFutures (cf. the reactive WebSocketClient). All other changes - add an overloaded method that takes a CompletableFuture parameter instead of ListenableFuture, and/or - add a method with a 'Async' suffix that returns a CompletableFuture instead of a ListenableFuture (connectAsync, sendAsync). Closes gh-27780
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