Switch to newer openstackdocstheme and reno versions

Switch to openstackdocstheme 2.2.1 and reno 3.1.0 versions. Using
these versions will allow especially:
* Linking from HTML to PDF document
* Allow parallel building of documents

Update Sphinx version as well.

Remove docs requirements from lower-constraints, they are not needed
during install or test but only for docs building.

openstackdocstheme renames some variables, so follow the renames
before the next release removes them. A couple of variables are also
not needed anymore, remove them.

Set openstackdocs_pdf_link to link to PDF file. Note that
the link to the published document only works on docs.openstack.org
where the PDF file is placed in the top-level html directory. The
site-preview places the PDF in a pdf directory.

Set openstackdocs_auto_name to use 'project' as name.

Change-Id: I138d51ace230a434e76fbe9fbbe97e53212230f3

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