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build: Stop using setup.py to generate documentation
Because `setup.py` is deprecated, let's switch from: python setup.py build_sphinx to: make -C docs html to build Sphinx documentation. The generated HTML files in `docs/_build/html` are exactly the same (I compared with `diff -qr`). Also add `-W` (turn warnings into errors) to the `sphinx-build` options to keep the previous behavior.
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