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Merge pull request #234 from stanford-oval/wip/hooks

This pull request extends the implementation of hooks from strictly nested procedures to the top level program. Beginning and end hooks are defined and executed subsequently at the beginning and end of the program. This allows for the handling of multiple commands at the same time. For example, in the case of Spotify this allows for multiple play_song actions to be cached and then coalesced into a single action at the end hook.

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