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

spring-aop/src/main/java/org/springframework/aop/interceptor/AsyncExecutionAspectSupport.java

@@ -20,7 +20,6 @@ import java.lang.reflect.Method;
 import java.util.Map;
 import java.util.concurrent.Callable;
 import java.util.concurrent.CompletableFuture;
-import java.util.concurrent.CompletionException;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executor;
 import java.util.concurrent.Future;
@@ -158,7 +157,6 @@ public abstract class AsyncExecutionAspectSupport implements BeanFactoryAware {
 
 	/**
 	 * Determine the specific executor to use when executing the given method.
-	 * <p>Should preferably return an {@link AsyncListenableTaskExecutor} implementation.
 	 * @return the executor to use (or {@code null}, but just if no default executor is available)
 	 */
 	@Nullable
@@ -176,8 +174,8 @@ public abstract class AsyncExecutionAspectSupport implements BeanFactoryAware {
 			if (targetExecutor == null) {
 				return null;
 			}
-			executor = (targetExecutor instanceof AsyncListenableTaskExecutor ?
-					(AsyncListenableTaskExecutor) targetExecutor : new TaskExecutorAdapter(targetExecutor));
+			executor = (targetExecutor instanceof AsyncTaskExecutor ?
+					(AsyncTaskExecutor) targetExecutor : new TaskExecutorAdapter(targetExecutor));
 			this.executors.put(method, executor);
 		}
 		return executor;
@@ -276,17 +274,11 @@ public abstract class AsyncExecutionAspectSupport implements BeanFactoryAware {
 	 * @param returnType the declared return type (potentially a {@link Future} variant)
 	 * @return the execution result (potentially a corresponding {@link Future} handle)
 	 */
+	@SuppressWarnings("deprecation")
 	@Nullable
 	protected Object doSubmit(Callable<Object> task, AsyncTaskExecutor executor, Class<?> returnType) {
 		if (CompletableFuture.class.isAssignableFrom(returnType)) {
-			return CompletableFuture.supplyAsync(() -> {
-				try {
-					return task.call();
-				}
-				catch (Throwable ex) {
-					throw new CompletionException(ex);
-				}
-			}, executor);
+			return executor.submitCompletable(task);
 		}
 		else if (ListenableFuture.class.isAssignableFrom(returnType)) {
 			return ((AsyncListenableTaskExecutor) executor).submitListenable(task);