Merged to pbts branch in #7541

This pull request merges in the changes for implementing Proposer-based timestamps into `master`. The power was primarily being done in the `wb/proposer-based-timestamps` branch, with changes being merged into that branch during development. This pull request represents an amalgamation of the changes made into that development branch. All of the changes that were placed into that branch have been cleanly rebased on top of the latest `master`. The changes compile and the tests pass insofar as our tests in general pass.

### Note To Reviewers
 These changes have been extensively reviewed during development. There is not much new here. In the interest of making effective use of time, I would recommend against trying to perform a complete audit of the changes presented and instead examine for mistakes that may have occurred during the process of rebasing the changes. I gave the complete change set a first pass for any issues, but additional eyes would be very appreciated. 

In sum, this change set does the following:
closes #6942 
merges in #6849

Co-authored-by: Callum Waters <cmwaters19@gmail.com>
Co-authored-by: M. J. Fromberger <fromberger@interchain.io>

Few things that had been annoying.

This is a very minor change, but I was looking through the code, and
this seems like it shouldn't be exported or used more broadly, so I've
moved it out.

## Description

Add version back to versions, but allow it to be overridden via a ldflag.

Reason:

Many users are not setting the ldflag causing issues with tooling that relies on it (cosmjs)

closes #6488

cc @webmaster128

I couldn't find any references to `state.NextState(...)`. Looks like `updateState` replaced that function

Co-authored-by: Callum <cmwaters19@gmail.com>

## Description

Separate protobuf and domain types. We should avoid using protobuf in our core logic. 

ref #5460

Adds a genesis parameter `initial_height` which specifies the initial block height, as well as ABCI `RequestInitChain.InitialHeight` to pass it to the ABCI application, and `State.InitialHeight` to keep track of the initial height throughout the code. Fixes #2543, based on [RFC-002](https://github.com/tendermint/spec/pull/119). Spec changes in https://github.com/tendermint/spec/pull/135.

## Description

the second part of state proto migration

Closes: #XXX

This is useful for custom state sync `StateProvider` implementations that need to build new states for bootstrapping the node. It will also be useful when implementing other mechanisms to bootstrap nodes, e.g. #4642 and #3713.

* types: change `Commit` to consist of just signatures

These are final changes towards removing votes from commit and leaving
only signatures (see ADR-25)

Fixes #1648

* bring back TestCommitToVoteSetWithVotesForAnotherBlockOrNilBlock

+ add absent flag to Vote to indicate that it's for another block

* encode nil votes as CommitSig with BlockIDFlagAbsent

+ make Commit#Precommits array of non-pointers
because precommit will never be nil

* add NewCommitSigAbsent and Absent() funcs

* uncomment validation in CommitSig#ValidateBasic

* add comments to ValidatorSet funcs

* add a changelog entry

* break instead of continue

continue does not make sense in these cases

* types: rename Commit#Precommits to Signatures

* swagger: fix /commit response

* swagger: change block_id_flag type

* fix merge conflicts

Refs #3262

* Removal of TotalTx & NumTx

- Removed totalTx and numTx

closes #2521

Signed-off-by: Marko Baricevic <marbar3778@yahoo.com>

* abci proto changes

* proto number fix

* txfilter_test fix

* comments on PR

* further changes

* bring back metrics

* fix indexer

* fix TestBlockMaxDataBytes and TestBlockMaxDataBytesUnknownEvidence

* indexer service back to header

* statistics.go fix

* fix ci

* listen for blocks, not headers

to be able to record txs throughput

* fix TestNetworkNewBlock

* fix tests

* fix tests in types package

* fixes after Anton's review

* fix tests

* bring back `consensus_total_txs` metric

I mistakenly thought it was removed.

* improve changelog

* remove LastBlockTotalTx from state

* docs: remove getNumTxs from BeginBlock Java example

- rename fields, methods, comments, tests

* types: test tm2pm on fully populated header

* upgrade for amino v0.13.0-rc0

* fix lint

* comment out final test

* use types.NewValidator

* node: set p2p.ProtocolVersion from state, not globals

* abci: update RequestInfo for versions

* abci: update ResponseInfo for versions

* compile fix

* fix test

* software_version -> version

* comment fix

* update spec

* add test

* comments and fix test

* types: add Version to Header

* abci: add Version to Header

* state: add Version to State

* node: check software and state protocol versions match

* update changelog

* docs/spec: update for versions

* state: more tests

* remove TODOs

* remove empty test

* require block.Time of the fist block to be genesis time

Refs #2587:

```
We only start validating block.Time when Height > 1, because there is no
commit to compute the median timestamp from for the first block. This
means a faulty proposer could make the first block with whatever time
they want.

Instead, we should require the timestamp of block 1 to match the genesis
time.

I discovered this while refactoring the ValidateBlock tests to be
table-driven while working on tests for #2560.
```

* do not accept blocks with negative height

* update changelog and spec

* nanos precision for test genesis time

* Fix failing test (#2607)

* Pass nil to NewValidatorSet() when genesis file's Validators field is nil

Closes: #2616

* Update CHANGELOG_PENDING.md

* remove ConsensusParams.TxSize and ConsensusParams.BlockGossip

Refs #2347

* block part size is now fixed

Refs #2347

* use max data size, not max bytes for tx limit

Refs #2347

* Implement BFT time

* set LastValidators when creating state in state helper

for heights >= 2

- state.MakeBlock takes a proposerAddr
- validateBlock only checks that the ProposerAddress is in the validator
  set
- fix raceyness from bad proposer test:
  - use privValidator to get the proposer address (instead of racy
    state)
  - note we had to remove the test that checked the correct proposer was
    included for higher rounds because we don't have a good way to test
    this with multiple consensus states and not using the
    privValidator.Address while calling createProposalBlock was a hack!

Refs #1134

Validation:

- ignored in block.ValidateBasic since it's stateful information
- checked in blockExec.ValidateBlock

This reverts commit d02c5d1e30.

This reverts commit 96a3502