Extending state codes with running cycle

[okanasik]

When the user kills the behavior code with interrupt signal (such as CTRL + C), the automata code is killed. If the latest active state is sending move forward command, the robot will continue to move forward even if the behavior is killed. To provide a mechanism to the behavior developer to handle the exiting conditions, we aim to provide three method interfaces; init, step, and finish. When the state is going to be run for the first time, init code is going to be run, step code is the state code that is going to be run as control cycle, finish code is going to be run, when the state's execution is killed or there is a transition to another state.