support added to .doric V6 files

[carlocastoldi]

With this patch modify previous .doric support with a more "general" solution. Additionally, I added a bare-bone feature in case someone wanted to use a binary recording from Doric to retrieve the behaviour events. Something like the signal below:

[venus-sherathiya]

Does this code work for older doric file which is not V6 ? Please let me know I think it won't If you agree, I will make those changes and merge it