switch out setuptools for poetry

setup.py is the very old style for packaging, so I wanted to replace it
with something more "modern". pyproject.toml seems like the way to go in
the future.

At first, I wanted to simply configure setuptools using pyproject.toml,
but that support is in beta and seemed to cause some issues with the tox
virtualenvs.

Poetry seems to work fine and provides a better dependency resolver
(given that dependencies are actually specified well) and some other
goodies. For users, nothing much should change, as "pip install" still
works.

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