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Move OpenQASM 2 exporter to `qiskit.qasm2` (#10533)

* Move OpenQASM 2 exporter to `qiskit.qasm2`

This gets us into a position where the interface is similar between the
`qasm2`, `qasm3` and `qpy` modules (all of which do vaguely similar
things at an abstract level), which are in turn similar to functionality
in the Python standard libraries.

This commit simply moves the code from `QuantumCircuit.qasm` over to the
new location.  Some idiosyncrasies and additional bits of features that
we do not intend to support long term (e.g. formatted output) are not
brought over, but `QuantumCircuit.qasm` continues to perform those
jobs until it is deprecated and removed.

* Use 'text' instead of unknown 'qasm2' highlighter

* Fix lint import cycle

* Fix Sphinx typos

* Fix for new unitary decomposition

* Apply suggestions from code review

Co-authored-by: Luciano Bello <bel@zurich.ibm.com>

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Co-authored-by: Luciano Bello <bel@zurich.ibm.com>

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