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Utilities/Sphinx: Avoid using deprecated sphinx APIs

Brad King requested to merge brad.king/cmake:sphinx-deprecations into master

Sphinx has deprecated sphinx.util.pycompat.htmlescape and sphinx.builders.qthelp.QtHelpBuilder. We only import these as part of a monkey-patch to work around a bug in versions of sphinx before 1.7.2, so make that code path conditional. The imports are not deprecated on the versions where we need them.

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