DM-40495: Add better error reporting of linkcheck failures #836
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Sphinx's linkcheck target does not summarize errors at the end of the run normally, but it does write the errors into an output.txt file. Move the linkcheck code into Makefile so that we can use shell trickery and display output.txt at the end of the run if the check failed.
Add a make help target as the default that displays the available Makefile targets.