Car power integrator + power management refactor (#1994)

* wip, ready to test

* tweaks

* fix

* fix

* fix power monitoring

* fix param writing

* no forced charging on high voltage

* reset capacity on reboot

* don't shutdown unless started seen

* fix unused var warning

* fix linting errors

* time is always valid

* QCOM gate

* Local params

* decimate saving

* fix linting

* rename param

* Log car battery capacity

* fix put_nonblocking

* Added some unit tests

* Add test to docker test list

* fix precommit

* cleanup

* run tests in CI

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7555379b2b

.github/workflows/test.yaml

@@ -146,6 +146,7 @@ jobs:
                     $UNIT_TEST selfdrive/car && \
                     $UNIT_TEST selfdrive/locationd && \
                     $UNIT_TEST selfdrive/athena && \
+                    $UNIT_TEST selfdrive/thermald && \
                     $UNIT_TEST tools/lib/tests"
       - name: Upload coverage to Codecov
         run: |