Remove auto self-mutex for all activity types

scheduler-server/src/main/java/gov/nasa/jpl/aerie/scheduler/server/services/SynchronousSchedulerAgent.java

@@ -1,7 +1,5 @@
 package gov.nasa.jpl.aerie.scheduler.server.services;
 
-import gov.nasa.jpl.aerie.constraints.time.Windows;
-import gov.nasa.jpl.aerie.constraints.tree.Expression;
 import gov.nasa.jpl.aerie.merlin.driver.ActivityInstanceId;
 import gov.nasa.jpl.aerie.merlin.driver.MissionModel;
 import gov.nasa.jpl.aerie.merlin.driver.MissionModelLoader;
@@ -10,17 +8,16 @@
 import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
 import gov.nasa.jpl.aerie.merlin.protocol.types.DurationType;
 import gov.nasa.jpl.aerie.merlin.protocol.types.SerializedValue;
-import gov.nasa.jpl.aerie.scheduler.constraints.scheduling.BinaryMutexConstraint;
 import gov.nasa.jpl.aerie.scheduler.constraints.scheduling.GlobalConstraint;
 import gov.nasa.jpl.aerie.scheduler.goals.Goal;
 import gov.nasa.jpl.aerie.scheduler.model.ActivityInstance;
 import gov.nasa.jpl.aerie.scheduler.model.ActivityType;
-import gov.nasa.jpl.aerie.scheduler.model.SchedulingCondition;
 import gov.nasa.jpl.aerie.scheduler.model.Plan;
 import gov.nasa.jpl.aerie.scheduler.model.PlanInMemory;
 import gov.nasa.jpl.aerie.scheduler.model.PlanningHorizon;
 import gov.nasa.jpl.aerie.scheduler.model.Problem;
 import gov.nasa.jpl.aerie.scheduler.model.SchedulingActivityInstanceId;
+import gov.nasa.jpl.aerie.scheduler.model.SchedulingCondition;
 import gov.nasa.jpl.aerie.scheduler.server.ResultsProtocol;
 import gov.nasa.jpl.aerie.scheduler.server.config.PlanOutputMode;
 import gov.nasa.jpl.aerie.scheduler.server.exceptions.NoSuchPlanException;
@@ -151,9 +148,6 @@ public void schedule(final ScheduleRequest request, final ResultsProtocol.Writer
 
       compiledGlobalSchedulingConditions.forEach(problem::add);
 
-      //TODO: workaround to get the Cardinality goal working. To remove once we have global constraints in the eDSL
-      problem.getActivityTypes().forEach(at -> problem.add(BinaryMutexConstraint.buildMutexConstraint(at, at)));
-
       final var orderedGoals = new ArrayList<Goal>();
       final var goals = new HashMap<Goal, GoalId>();
       final var compiledGoals = new ArrayList<Pair<GoalId, SchedulingDSL.GoalSpecifier>>();