Closes #5074 Old code does not work when --consensus.create_empty_blocks=false (because it only calls tmos.Kill when ApplyBlock fails). New code is listening ABCI clients for Quit and kills TM process if there were any errors.
Adds the ABCI interface for [state sync](https://github.com/tendermint/tendermint/issues/828) as outlined in [ADR-053](https://github.com/tendermint/tendermint/blob/master/docs/architecture/adr-053-state-sync-prototype.md), and bumps ABCIVersion to `0.17.0`. The interface adds a new ABCI connection which Tendermint can use to query and load snapshots from the app (for serving snapshots to other nodes), and to offer and apply snapshots to the app (for state syncing a local node from peers). Split out from the original PR in #4645, state sync reactor will be submitted as a separate PR. The interface is implemented by the Cosmos SDK in https://github.com/cosmos/cosmos-sdk/pull/5803.
