* 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)

* Implement issues 2386: add synchronization in lite verify and change all Certify to Verify

* Replace make(chan struct{}, 0) with make(chan struct{})

* Parameterize memroy cache size and add concurrent test

* Refactor import order

* add missing options to config.toml template and docs
Refs #2232
* config#ValidateBasic
Refs #2232
* [config] timeouts as time.Duration, not ints
Why:
- native type provides better guarantees than ", in ms" comment (harder
to shoot yourself in the leg)
- flexibility: you can change units

* stop node upon receiving SIGTERM or CTRL-Ceven during genesis sleep by setting up interrupt before starting a node

Closes #2434

* call Start, not OnStart when starting a component to avoid:

```
E[09-24|10:13:15.805] Not stopping PubSub -- have not been started yet module=pubsub impl=PubSub
```

being printed on exit

Refs #1714

* Implement BFT time

* set LastValidators when creating state in state helper

for heights >= 2

* libs: Remove usage of custom Fmt, in favor of fmt.Sprintf

Closes #2193

* Fix bug that was masked by custom Fmt!

Currently the top level directory contains basically all of the code
for the crypto package. This PR moves the crypto code into submodules
in a similar manner to what `golang/x/crypto` does. This improves code
organization.

Ref discussion: https://github.com/tendermint/tendermint/pull/1966

Closes #1956

This reverts commit 58d0c8de89.

This reverts commit d02c5d1e30.

* config: rename skip_upnp to upnp

Change default option to enable upnp.

Closes #1806

* doc updates

- fix comment and set UPNP to false in TestP2PConfig
- add UPNP to config template
- update changelog

This reverts commit 96a3502

* Switch ports 466xx to be 266xx
This is done so the default ports aren't in the linux kernel's default ephemeral port range.

* Update ABCI import

* Bump cache on circleci

* Get more verbose output for debugging

* Bump abci dependency

* Fix accidental change of a block header's hash

* pin abci release

* `unsafe_reset_all` also resets addrbook.json

When executing `unsafe_reset_all` it also clear all IP addresses from
addrbook.json. This is the expected behaviour of `unsafe_reset_all`.

* Fix tests

* improve logging statements

* use correct file

This is a maintenance change to move the private validator package out
of the types and to a top-level location. There is no good reason to
keep it under the types and it will more clearly coommunicate where
additions related to the privval belong. It leaves the interface and the
mock in types for now as it would introduce circular dependency between
privval and types, this should be resolved eventually.

* mv priv_validator to privval pkg
* use consistent `privval` as import

Follow-up to #1255

* [cmd] Turn off strict routability when using testnet cmd

Refs https://github.com/tendermint/tendermint/pull/1454

* use "testnet" instead of "it"

fix node ids

* improve testnet cmd

* allow non-validators
* configurable prefix
* populating of persistent peers

* relax permissions

* cleanup output dir every time

* do not remove dir

* remove panic comments

* fix show_node_id

* make LoadNodeKey public

* make LoadNodeKey public

* remove if

* remove if

* use increment and decrement operators.

* remove unnecessary else branches.

* fix package comment with leading space.

* fix receiver names.

* fix error strings.

* remove omittable code.

* remove redundant return statement.

* Revert changes (code is generated.)

* use cfg as receiver name for all config-related types.

* use lsi as the receiver name for the LastSignedInfo type.

Follow-up to feedback from #1286, this change simplifies the connection
handling in the SocketClient and makes the communication via TCP more
robust. It introduces the tcpTimeoutListener to encapsulate accept and
i/o timeout handling as well as connection keep-alive, this type could
likely be upgraded to handle more fine-grained tuning of the tcp stack
(linger, nodelay, etc.) according to the properties we desire. The same
methods should be applied to the RemoteSigner which will be overhauled
when the priv_val_server is fleshed out.

* require private key
* simplify connect logic
* break out conn upgrades to tcpTimeoutListener
* extend test coverage and simplify component setup

Refs #1126

Noticed while investigating
https://github.com/tendermint/tendermint/issues/970

As reported by @zramsay, we'd get the warning
from tendermint/rpc/lib because we were passing in
scheme-less addresses, so by default use "tcp".

Also by default, "node" (nodeAddr) has been set to:
  "tcp://localhost:46657"
instead of the bare:
  "localhost:46657"

This change is just to clean up such warnings as
they spuriously would spook users for a package "lite"
that claims to be secure.

Follow-up to #1255 aligning with the expectation that the external
signing process connects to the node. The SocketClient will block on
start until one connection has been established, support for multiple
signers connected simultaneously is a planned future extension.

* SocketClient accepts connection
* PrivValSocketServer renamed to RemoteSigner
* extend tests