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juju charms: set more accurate status based on goal_state
**What this PR does / why we need it**:
Use juju goal-state to report more accurate charm status.
**Which issue(s) this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close the issue(s) when PR gets merged)*:
Fixes https://github.com/juju-solutions/bundle-canonical-kubernetes/issues/593
**Special notes for your reviewer**:
The goal-state hook tool was released in juju 2.4. For deployments on earlier versions of juju, this will fall back to the current status reporting behavior.
**Release note**:
```release-note
Report accurate status for kubernetes-master and -worker charms.
```
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