Remove deprecated code

Also make the following related changes:

* In the implementation for version 7 of the persistence schema, ensure
  that null envelope keys are converted to the empty string, as null
  envelope keys are not allowed anymore.
* Change @deprecated annotations to @ScheduleApiChange in a couple of
  places in the web API implementation, as we do not really deprecate
  the code there, just mark it to not be used in any future web API
  versions anymore.

Co-authored-by: Stefan Walter <stefan.walter@iml.fraunhofer.de>
Merged-by: Stefan Walter <stefan.walter@iml.fraunhofer.de>

Author: martingr

opentcs-api-base/src/main/java/org/opentcs/access/ModelTransitionEvent.java

@@ -3,7 +3,6 @@
 package org.opentcs.access;
 
 import java.io.Serializable;
-import org.opentcs.util.annotations.ScheduledApiChange;
 
 /**
  * Emitted when the kernel loads a model.
@@ -20,10 +19,6 @@ public class ModelTransitionEvent
    * The new model the kernel is in transition to.
    */
   private final String newModelName;
-  /**
-   * Whether the content of the model actually changed with the transition.
-   */
-  private final boolean modelContentChanged;
   /**
    * Whether the transition to the entered state is finished or not.
    */
@@ -41,32 +36,9 @@ public ModelTransitionEvent(
       String oldModelName,
       String newModelName,
       boolean transitionFinished
-  ) {
-    this(oldModelName, newModelName, true, transitionFinished);
-  }
-
-  /**
-   * Creates a new TCSModelTransitionEvent.
-   *
-   * @param oldModelName The name of the previously loaded model.
-   * @param newModelName The name of the new model.
-   * @param modelContentChanged Whether the content of the model actually
-   * changed with the transition.
-   * @param transitionFinished Whether the transition to the new model is
-   * finished, yet.
-   * @deprecated Use {@link #ModelTransitionEvent(String, String, boolean)}, instead.
-   */
-  @Deprecated
-  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
-  public ModelTransitionEvent(
-      String oldModelName,
-      String newModelName,
-      boolean modelContentChanged,
-      boolean transitionFinished
   ) {
     this.oldModelName = oldModelName;
     this.newModelName = newModelName;
-    this.modelContentChanged = modelContentChanged;
     this.transitionFinished = transitionFinished;
   }
 
@@ -88,21 +60,6 @@ public String getNewModelName() {
     return newModelName;
   }
 
-  /**
-   * Returns <code>true</code> if, and only if, the content of the model
-   * actually changed with the transition.
-   *
-   * @return <code>true</code> if, and only if, the content of the model
-   * actually changed with the transition.
-   * @deprecated Will be removed, as this flag has not been set to anything but <code>true</code>
-   * for quite a while.
-   */
-  @Deprecated
-  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
-  public boolean hasModelContentChanged() {
-    return modelContentChanged;
-  }
-
   /**
    * Returns <code>true</code> if, and only if, the transition to the new kernel
    * state is finished.
@@ -120,7 +77,6 @@ public String toString() {
         + '{'
         + "oldModelName=" + oldModelName
         + ", newModelName=" + newModelName
-        + ", modelContentChanged=" + modelContentChanged
         + ", transitionFinished=" + transitionFinished
         + '}';
   }

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteRouterService.java

@@ -5,9 +5,7 @@
 import java.rmi.Remote;
 import java.rmi.RemoteException;
 import java.util.Map;
-import java.util.Optional;
 import java.util.Set;
-import java.util.stream.Collectors;
 import org.opentcs.access.rmi.ClientID;
 import org.opentcs.components.kernel.services.RouterService;
 import org.opentcs.data.TCSObjectReference;
@@ -16,7 +14,6 @@
 import org.opentcs.data.model.TCSResourceReference;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.order.Route;
-import org.opentcs.util.annotations.ScheduledApiChange;
 
 /**
  * Declares the methods provided by the {@link RouterService} via RMI.
@@ -40,41 +37,14 @@ public interface RemoteRouterService
   public void updateRoutingTopology(ClientID clientId, Set<TCSObjectReference<Path>> refs)
       throws RemoteException;
 
-  @Deprecated
-  public Map<TCSObjectReference<Point>, Route> computeRoutes(
-      ClientID clientId,
-      TCSObjectReference<Vehicle> vehicleRef,
-      TCSObjectReference<Point> sourcePointRef,
-      Set<TCSObjectReference<Point>> destinationPointRefs,
-      Set<TCSResourceReference<?>> resourcesToAvoid
-  )
-      throws RemoteException;
-
-  @ScheduledApiChange(when = "7.0", details = "Default implementation will be removed.")
-  default Map<TCSObjectReference<Point>, Set<Route>> computeRoutes(
+  Map<TCSObjectReference<Point>, Set<Route>> computeRoutes(
       ClientID clientId,
       TCSObjectReference<Vehicle> vehicleRef,
       TCSObjectReference<Point> sourcePointRef,
       Set<TCSObjectReference<Point>> destinationPointRefs,
       Set<TCSResourceReference<?>> resourcesToAvoid,
       int maxRoutesPerDestinationPoint
   )
-      throws RemoteException {
-    return computeRoutes(
-        clientId,
-        vehicleRef,
-        sourcePointRef,
-        destinationPointRefs,
-        resourcesToAvoid
-    )
-        .entrySet()
-        .stream()
-        .collect(
-            Collectors.toMap(
-                Map.Entry::getKey,
-                entry -> Optional.ofNullable(entry.getValue()).map(Set::of).orElse(Set.of())
-            )
-        );
-  }
+      throws RemoteException;
   // CHECKSTYLE:ON
 }

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteRouterServiceProxy.java

@@ -43,31 +43,6 @@ public void updateRoutingTopology(Set<TCSObjectReference<Path>> refs)
     }
   }
 
-  @Override
-  @Deprecated
-  public Map<TCSObjectReference<Point>, Route> computeRoutes(
-      TCSObjectReference<Vehicle> vehicleRef,
-      TCSObjectReference<Point> sourcePointRef,
-      Set<TCSObjectReference<Point>> destinationPointRefs,
-      Set<TCSResourceReference<?>> resourcesToAvoid
-  )
-      throws KernelRuntimeException {
-    checkServiceAvailability();
-
-    try {
-      return getRemoteService().computeRoutes(
-          getClientId(),
-          vehicleRef,
-          sourcePointRef,
-          destinationPointRefs,
-          resourcesToAvoid
-      );
-    }
-    catch (RemoteException ex) {
-      throw findSuitableExceptionFor(ex);
-    }
-  }
-
   @Override
   public Map<TCSObjectReference<Point>, Set<Route>> computeRoutes(
       TCSObjectReference<Vehicle> vehicleRef,

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteTCSObjectService.java

@@ -31,43 +31,19 @@ public interface RemoteTCSObjectService
       Remote {
 
   // CHECKSTYLE:OFF
-  @Deprecated
-  <T extends TCSObject<T>> T fetchObject(
-      ClientID clientId,
-      Class<T> clazz,
-      TCSObjectReference<T> ref
-  )
-      throws RemoteException;
-
   <T extends TCSObject<T>> T fetch(
       ClientID clientId,
       Class<T> clazz,
       TCSObjectReference<T> ref
   )
       throws RemoteException;
 
-  @Deprecated
-  <T extends TCSObject<T>> T fetchObject(ClientID clientId, Class<T> clazz, String name)
-      throws RemoteException;
-
   <T extends TCSObject<T>> T fetch(ClientID clientId, Class<T> clazz, String name)
       throws RemoteException;
 
-  @Deprecated
-  <T extends TCSObject<T>> Set<T> fetchObjects(ClientID clientId, Class<T> clazz)
-      throws RemoteException;
-
   <T extends TCSObject<T>> Set<T> fetch(ClientID clientId, Class<T> clazz)
       throws RemoteException;
 
-  @Deprecated
-  <T extends TCSObject<T>> Set<T> fetchObjects(
-      ClientID clientId,
-      Class<T> clazz,
-      Predicate<? super T> predicate
-  )
-      throws RemoteException;
-
   <T extends TCSObject<T>> Set<T> fetch(
       ClientID clientId,
       Class<T> clazz,

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteTCSObjectServiceProxy.java

@@ -25,20 +25,6 @@ abstract class RemoteTCSObjectServiceProxy<R extends RemoteTCSObjectService>
     implements
       TCSObjectService {
 
-  @Deprecated
-  @Override
-  public <T extends TCSObject<T>> T fetchObject(Class<T> clazz, TCSObjectReference<T> ref)
-      throws KernelRuntimeException {
-    checkServiceAvailability();
-
-    try {
-      return getRemoteService().fetchObject(getClientId(), clazz, ref);
-    }
-    catch (RemoteException ex) {
-      throw findSuitableExceptionFor(ex);
-    }
-  }
-
   @Override
   public <T extends TCSObject<T>> Optional<T> fetch(Class<T> clazz, TCSObjectReference<T> ref)
       throws KernelRuntimeException {
@@ -52,20 +38,6 @@ public <T extends TCSObject<T>> Optional<T> fetch(Class<T> clazz, TCSObjectRefer
     }
   }
 
-  @Deprecated
-  @Override
-  public <T extends TCSObject<T>> T fetchObject(Class<T> clazz, String name)
-      throws KernelRuntimeException {
-    checkServiceAvailability();
-
-    try {
-      return getRemoteService().fetchObject(getClientId(), clazz, name);
-    }
-    catch (RemoteException ex) {
-      throw findSuitableExceptionFor(ex);
-    }
-  }
-
   @Override
   public <T extends TCSObject<T>> Optional<T> fetch(Class<T> clazz, String name)
       throws KernelRuntimeException {
@@ -79,20 +51,6 @@ public <T extends TCSObject<T>> Optional<T> fetch(Class<T> clazz, String name)
     }
   }
 
-  @Deprecated
-  @Override
-  public <T extends TCSObject<T>> Set<T> fetchObjects(Class<T> clazz)
-      throws KernelRuntimeException {
-    checkServiceAvailability();
-
-    try {
-      return getRemoteService().fetchObjects(getClientId(), clazz);
-    }
-    catch (RemoteException ex) {
-      throw findSuitableExceptionFor(ex);
-    }
-  }
-
   @Override
   public <T extends TCSObject<T>> Set<T> fetch(Class<T> clazz)
       throws KernelRuntimeException {
@@ -106,23 +64,6 @@ public <T extends TCSObject<T>> Set<T> fetch(Class<T> clazz)
     }
   }
 
-  @Deprecated
-  @Override
-  public <T extends TCSObject<T>> Set<T> fetchObjects(
-      Class<T> clazz,
-      Predicate<? super T> predicate
-  )
-      throws KernelRuntimeException {
-    checkServiceAvailability();
-
-    try {
-      return getRemoteService().fetchObjects(getClientId(), clazz, predicate);
-    }
-    catch (RemoteException ex) {
-      throw findSuitableExceptionFor(ex);
-    }
-  }
-
   @Override
   public <T extends TCSObject<T>> Set<T> fetch(
       Class<T> clazz,

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteVehicleService.java

@@ -11,12 +11,10 @@
 import org.opentcs.data.model.AcceptableOrderType;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.model.Vehicle.EnergyLevelThresholdSet;
-import org.opentcs.drivers.vehicle.AdapterCommand;
 import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
 import org.opentcs.drivers.vehicle.VehicleCommAdapterMessage;
 import org.opentcs.drivers.vehicle.management.VehicleAttachmentInformation;
 import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
-import org.opentcs.util.annotations.ScheduledApiChange;
 
 /**
  * Declares the methods provided by the {@link VehicleService} via RMI.
@@ -59,29 +57,12 @@ VehicleAttachmentInformation fetchAttachmentInformation(
   VehicleProcessModelTO fetchProcessModel(ClientID clientId, TCSObjectReference<Vehicle> ref)
       throws RemoteException;
 
-  @Deprecated
-  void sendCommAdapterCommand(
-      ClientID clientId,
-      TCSObjectReference<Vehicle> ref,
-      AdapterCommand command
-  )
-      throws RemoteException;
-
-  @Deprecated
   void sendCommAdapterMessage(
-      ClientID clientId,
-      TCSObjectReference<Vehicle> vehicleRef,
-      Object message
-  )
-      throws RemoteException;
-
-  default void sendCommAdapterMessage(
       ClientID clientId,
       TCSObjectReference<Vehicle> ref,
       VehicleCommAdapterMessage message
   )
-      throws RemoteException {
-  }
+      throws RemoteException;
 
   void updateVehicleIntegrationLevel(
       ClientID clientId,
@@ -97,33 +78,19 @@ void updateVehiclePaused(
   )
       throws RemoteException;
 
-  @ScheduledApiChange(when = "7.0", details = "Default implementation will be removed.")
-  default void updateVehicleEnergyLevelThresholdSet(
+  void updateVehicleEnergyLevelThresholdSet(
       ClientID clientId,
       TCSObjectReference<Vehicle> ref,
       EnergyLevelThresholdSet energyLevelThresholdSet
-  )
-      throws RemoteException {
-    throw new UnsupportedOperationException("Not yet implemented.");
-  }
-
-  @Deprecated
-  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
-  void updateVehicleAllowedOrderTypes(
-      ClientID clientId,
-      TCSObjectReference<Vehicle> ref,
-      Set<String> allowedOrderTypes
   )
       throws RemoteException;
 
-  default void updateVehicleAcceptableOrderTypes(
+  void updateVehicleAcceptableOrderTypes(
       ClientID clientId,
       TCSObjectReference<Vehicle> ref,
       Set<AcceptableOrderType> acceptableOrderTypes
   )
-      throws RemoteException {
-    throw new UnsupportedOperationException("Not yet implemented.");
-  }
+      throws RemoteException;
 
   void updateVehicleEnvelopeKey(
       ClientID clientId,