[FSM] Add wait_until API

[leonardt]

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[codecov-commenter]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 85.25%. Comparing base (1a9fa80) to head (724dd31).

❗ Current head 724dd31 differs from pull request most recent head a2d7949. Consider uploading reports for the commit a2d7949 to get more accurate results

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Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1371      +/-   ##
==========================================
+ Coverage   85.23%   85.25%   +0.02%     
==========================================
  Files         171      171              
  Lines       17893    17919      +26     
==========================================
+ Hits        15251    15277      +26     
  Misses       2642     2642              

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