Switch from colors to chalk

[zbynek]

Alternative to #783 -- instead of locking the last version of colors, use chalk: same size, same syntax, more widespread (hopefully more stable). Currently use version 4 so that it can be required rather than imported. Switch to ESM can be done in later PR.

Contributor checklist

• [n/a] Provide tests for the changes (unless documentation-only)
• [n/a] Documented any new features, CLI switches, etc. (if applicable)
  • [n/a] Server --help output
  • [n/a] README.md
  • [n/a] doc/http-server.1 (use the same format as other entries)
• The pull request is being made against the master branch

Maintainer checklist

• Assign a version triage tag
• Approve tests if applicable

[Soni96pl]

Thanks for this change @zbynek
For anyone in need of http-server meanwhile can run code from this branch with:
npx git+ssh://git@github.com:zbynek/http-server.git#685f3c8474f99480e03be5897e4902ee32ce818d

[thornjad]

The tests on Node 17 have unrelated problems, and this PR is more important than them, so I'm going to ignore them for now.