Feature/js action switch

[nfcopier]

Fully implements ActionSwitch

Changes

• ActionSwitch uses Node's EventEmitter
• ActionSwitch uses a state machine to handle its lifecycle
• Nestles the individual tasks in a Run class
• JS code should catch all exceptions at top level and kill the thrusters

[octoshrimpy]

@nfcopier looks good to me. Tested both in water, in sub and through code.

[nfcopier]

@octoshrimpy, please add a Review so it can be merged.