CI, package updates, 3.10 support, 3.6 deprecation, add precommit

[tony]

• poetry 1.1.7 -> 1.1.12, use new installer
• Drop python 3.6
• Add python 3.10
• CI: test 3.7 and 3.10 (low and high end of supported releases)
• Update myst-parser and sphinx-autodoc-typehints
• Add .pre-commit-config.yaml
• black: update 21.9b0 -> 21.12b0

[codecov]

Codecov Report

Merging #300 (90cc7c4) into master (f477cae) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master     #300   +/-   ##
=======================================
  Coverage   85.78%   85.78%           
=======================================
  Files          15       15           
  Lines         774      774           
=======================================
  Hits          664      664           
  Misses        110      110           

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update f477cae...90cc7c4. Read the comment docs.