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SP-4030: fix poetry files so `poetry install` actually works + fix docs build

Emanuele Lena requested to merge sp-4030-fix-poetry-dependencies into main

When I cloned locally this repository I haven't been able to run poetry install successfully due to outdated dependencies and outdated .toml file structure. To make it work I:

  • added PyPI-public as source (as it's done in many other SKAO repos, like ska-tango-examples)
  • updated version for Python, tango and numpy
  • removed redundant fixed dev dependencies

Since I noticed also that docs-build pipeline step was failing, I also:

  • in .toml, added the reference to src.ska_tango_testing as a package
  • added a docs dependency to typing-extensions

(since both where not detected by Sphinx)

I also changed dev_dependencies into group.dev.dependencies (as it's going to be required in future) and I updated make submodule.

All this is done in context of SP-4030

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