diff --git a/build/ros3d.cjs.js b/build/ros3d.cjs.js
index 8d89cddb..eda80f82 100644
--- a/build/ros3d.cjs.js
+++ b/build/ros3d.cjs.js
@@ -53263,1633 +53263,1640 @@ var eventemitter2 = {exports: {}};
  */
 eventemitter2.exports;
 
-(function (module, exports) {
+var hasRequiredEventemitter2;
+
+function requireEventemitter2 () {
+	if (hasRequiredEventemitter2) { return eventemitter2.exports; }
+	hasRequiredEventemitter2 = 1;
+	(function (module, exports) {
 !function(undefined$1) {
-	  var hasOwnProperty= Object.hasOwnProperty;
-	  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
-	    return Object.prototype.toString.call(obj) === "[object Array]";
-	  };
-	  var defaultMaxListeners = 10;
-	  var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function';
-	  var symbolsSupported= typeof Symbol==='function';
-	  var reflectSupported= typeof Reflect === 'object';
-	  var setImmediateSupported= typeof setImmediate === 'function';
-	  var _setImmediate= setImmediateSupported ? setImmediate : setTimeout;
-	  var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){
-	    var arr= Object.getOwnPropertyNames(obj);
-	    arr.push.apply(arr, Object.getOwnPropertySymbols(obj));
-	    return arr;
-	  }) : Object.keys;
-
-	  function init() {
-	    this._events = {};
-	    if (this._conf) {
-	      configure.call(this, this._conf);
-	    }
-	  }
-
-	  function configure(conf) {
-	    if (conf) {
-	      this._conf = conf;
-
-	      conf.delimiter && (this.delimiter = conf.delimiter);
-
-	      if(conf.maxListeners!==undefined$1){
-	          this._maxListeners= conf.maxListeners;
-	      }
-
-	      conf.wildcard && (this.wildcard = conf.wildcard);
-	      conf.newListener && (this._newListener = conf.newListener);
-	      conf.removeListener && (this._removeListener = conf.removeListener);
-	      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
-	      conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors);
-
-	      if (this.wildcard) {
-	        this.listenerTree = {};
-	      }
-	    }
-	  }
-
-	  function logPossibleMemoryLeak(count, eventName) {
-	    var errorMsg = '(node) warning: possible EventEmitter memory ' +
-	        'leak detected. ' + count + ' listeners added. ' +
-	        'Use emitter.setMaxListeners() to increase limit.';
-
-	    if(this.verboseMemoryLeak){
-	      errorMsg += ' Event name: ' + eventName + '.';
-	    }
-
-	    if(typeof process !== 'undefined' && process.emitWarning){
-	      var e = new Error(errorMsg);
-	      e.name = 'MaxListenersExceededWarning';
-	      e.emitter = this;
-	      e.count = count;
-	      process.emitWarning(e);
-	    } else {
-	      console.error(errorMsg);
-
-	      if (console.trace){
-	        console.trace();
-	      }
-	    }
-	  }
-
-	  var toArray = function (a, b, c) {
-	    var arguments$1 = arguments;
-
-	    var n = arguments.length;
-	    switch (n) {
-	      case 0:
-	        return [];
-	      case 1:
-	        return [a];
-	      case 2:
-	        return [a, b];
-	      case 3:
-	        return [a, b, c];
-	      default:
-	        var arr = new Array(n);
-	        while (n--) {
-	          arr[n] = arguments$1[n];
-	        }
-	        return arr;
-	    }
-	  };
-
-	  function toObject(keys, values) {
-	    var obj = {};
-	    var key;
-	    var len = keys.length;
-	    var valuesCount = values ? value.length : 0;
-	    for (var i = 0; i < len; i++) {
-	      key = keys[i];
-	      obj[key] = i < valuesCount ? values[i] : undefined$1;
-	    }
-	    return obj;
-	  }
-
-	  function TargetObserver(emitter, target, options) {
-	    this._emitter = emitter;
-	    this._target = target;
-	    this._listeners = {};
-	    this._listenersCount = 0;
-
-	    var on, off;
-
-	    if (options.on || options.off) {
-	      on = options.on;
-	      off = options.off;
-	    }
-
-	    if (target.addEventListener) {
-	      on = target.addEventListener;
-	      off = target.removeEventListener;
-	    } else if (target.addListener) {
-	      on = target.addListener;
-	      off = target.removeListener;
-	    } else if (target.on) {
-	      on = target.on;
-	      off = target.off;
-	    }
-
-	    if (!on && !off) {
-	      throw Error('target does not implement any known event API');
-	    }
-
-	    if (typeof on !== 'function') {
-	      throw TypeError('on method must be a function');
-	    }
-
-	    if (typeof off !== 'function') {
-	      throw TypeError('off method must be a function');
-	    }
-
-	    this._on = on;
-	    this._off = off;
-
-	    var _observers= emitter._observers;
-	    if(_observers){
-	      _observers.push(this);
-	    }else {
-	      emitter._observers= [this];
-	    }
-	  }
-
-	  Object.assign(TargetObserver.prototype, {
-	    subscribe: function(event, localEvent, reducer){
-	      var observer= this;
-	      var target= this._target;
-	      var emitter= this._emitter;
-	      var listeners= this._listeners;
-	      var handler= function(){
-	        var args= toArray.apply(null, arguments);
-	        var eventObj= {
-	          data: args,
-	          name: localEvent,
-	          original: event
-	        };
-	        if(reducer){
-	          var result= reducer.call(target, eventObj);
-	          if(result!==false){
-	            emitter.emit.apply(emitter, [eventObj.name].concat(args));
-	          }
-	          return;
-	        }
-	        emitter.emit.apply(emitter, [localEvent].concat(args));
-	      };
-
-
-	      if(listeners[event]){
-	        throw Error('Event \'' + event + '\' is already listening');
-	      }
-
-	      this._listenersCount++;
-
-	      if(emitter._newListener && emitter._removeListener && !observer._onNewListener){
-
-	        this._onNewListener = function (_event) {
-	          if (_event === localEvent && listeners[event] === null) {
-	            listeners[event] = handler;
-	            observer._on.call(target, event, handler);
-	          }
-	        };
-
-	        emitter.on('newListener', this._onNewListener);
-
-	        this._onRemoveListener= function(_event){
-	          if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){
-	            listeners[event]= null;
-	            observer._off.call(target, event, handler);
-	          }
-	        };
-
-	        listeners[event]= null;
-
-	        emitter.on('removeListener', this._onRemoveListener);
-	      }else {
-	        listeners[event]= handler;
-	        observer._on.call(target, event, handler);
-	      }
-	    },
-
-	    unsubscribe: function(event){
-	      var observer= this;
-	      var listeners= this._listeners;
-	      var emitter= this._emitter;
-	      var handler;
-	      var events;
-	      var off= this._off;
-	      var target= this._target;
-	      var i;
-
-	      if(event && typeof event!=='string'){
-	        throw TypeError('event must be a string');
-	      }
-
-	      function clearRefs(){
-	        if(observer._onNewListener){
-	          emitter.off('newListener', observer._onNewListener);
-	          emitter.off('removeListener', observer._onRemoveListener);
-	          observer._onNewListener= null;
-	          observer._onRemoveListener= null;
-	        }
-	        var index= findTargetIndex.call(emitter, observer);
-	        emitter._observers.splice(index, 1);
-	      }
-
-	      if(event){
-	        handler= listeners[event];
-	        if(!handler) { return; }
-	        off.call(target, event, handler);
-	        delete listeners[event];
-	        if(!--this._listenersCount){
-	          clearRefs();
-	        }
-	      }else {
-	        events= ownKeys(listeners);
-	        i= events.length;
-	        while(i-->0){
-	          event= events[i];
-	          off.call(target, event, listeners[event]);
-	        }
-	        this._listeners= {};
-	        this._listenersCount= 0;
-	        clearRefs();
-	      }
-	    }
-	  });
-
-	  function resolveOptions(options, schema, reducers, allowUnknown) {
-	    var computedOptions = Object.assign({}, schema);
-
-	    if (!options) { return computedOptions; }
-
-	    if (typeof options !== 'object') {
-	      throw TypeError('options must be an object')
-	    }
-
-	    var keys = Object.keys(options);
-	    var length = keys.length;
-	    var option, value;
-	    var reducer;
-
-	    function reject(reason) {
-	      throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : ''))
-	    }
-
-	    for (var i = 0; i < length; i++) {
-	      option = keys[i];
-	      if (!allowUnknown && !hasOwnProperty.call(schema, option)) {
-	        throw Error('Unknown "' + option + '" option');
-	      }
-	      value = options[option];
-	      if (value !== undefined$1) {
-	        reducer = reducers[option];
-	        computedOptions[option] = reducer ? reducer(value, reject) : value;
-	      }
-	    }
-	    return computedOptions;
-	  }
-
-	  function constructorReducer(value, reject) {
-	    if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) {
-	      reject('value must be a constructor');
-	    }
-	    return value;
-	  }
-
-	  function makeTypeReducer(types) {
-	    var message= 'value must be type of ' + types.join('|');
-	    var len= types.length;
-	    var firstType= types[0];
-	    var secondType= types[1];
-
-	    if (len === 1) {
-	      return function (v, reject) {
-	        if (typeof v === firstType) {
-	          return v;
-	        }
-	        reject(message);
-	      }
-	    }
-
-	    if (len === 2) {
-	      return function (v, reject) {
-	        var kind= typeof v;
-	        if (kind === firstType || kind === secondType) { return v; }
-	        reject(message);
-	      }
-	    }
-
-	    return function (v, reject) {
-	      var kind = typeof v;
-	      var i = len;
-	      while (i-- > 0) {
-	        if (kind === types[i]) { return v; }
-	      }
-	      reject(message);
-	    }
-	  }
-
-	  var functionReducer= makeTypeReducer(['function']);
-
-	  var objectFunctionReducer= makeTypeReducer(['object', 'function']);
-
-	  function makeCancelablePromise(Promise, executor, options) {
-	    var isCancelable;
-	    var callbacks;
-	    var timer= 0;
-	    var subscriptionClosed;
-
-	    var promise = new Promise(function (resolve, reject, onCancel) {
-	      options= resolveOptions(options, {
-	        timeout: 0,
-	        overload: false
-	      }, {
-	        timeout: function(value, reject){
-	          value*= 1;
-	          if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) {
-	            reject('timeout must be a positive number');
-	          }
-	          return value;
-	        }
-	      });
-
-	      isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function';
-
-	      function cleanup() {
-	        if (callbacks) {
-	          callbacks = null;
-	        }
-	        if (timer) {
-	          clearTimeout(timer);
-	          timer = 0;
-	        }
-	      }
-
-	      var _resolve= function(value){
-	        cleanup();
-	        resolve(value);
-	      };
-
-	      var _reject= function(err){
-	        cleanup();
-	        reject(err);
-	      };
-
-	      if (isCancelable) {
-	        executor(_resolve, _reject, onCancel);
-	      } else {
-	        callbacks = [function(reason){
-	          _reject(reason || Error('canceled'));
-	        }];
-	        executor(_resolve, _reject, function (cb) {
-	          if (subscriptionClosed) {
-	            throw Error('Unable to subscribe on cancel event asynchronously')
-	          }
-	          if (typeof cb !== 'function') {
-	            throw TypeError('onCancel callback must be a function');
-	          }
-	          callbacks.push(cb);
-	        });
-	        subscriptionClosed= true;
-	      }
-
-	      if (options.timeout > 0) {
-	        timer= setTimeout(function(){
-	          var reason= Error('timeout');
-	          reason.code = 'ETIMEDOUT';
-	          timer= 0;
-	          promise.cancel(reason);
-	          reject(reason);
-	        }, options.timeout);
-	      }
-	    });
-
-	    if (!isCancelable) {
-	      promise.cancel = function (reason) {
-	        if (!callbacks) {
-	          return;
-	        }
-	        var length = callbacks.length;
-	        for (var i = 1; i < length; i++) {
-	          callbacks[i](reason);
-	        }
-	        // internal callback to reject the promise
-	        callbacks[0](reason);
-	        callbacks = null;
-	      };
-	    }
-
-	    return promise;
-	  }
-
-	  function findTargetIndex(observer) {
-	    var observers = this._observers;
-	    if(!observers){
-	      return -1;
-	    }
-	    var len = observers.length;
-	    for (var i = 0; i < len; i++) {
-	      if (observers[i]._target === observer) { return i; }
-	    }
-	    return -1;
-	  }
-
-	  // Attention, function return type now is array, always !
-	  // It has zero elements if no any matches found and one or more
-	  // elements (leafs) if there are matches
-	  //
-	  function searchListenerTree(handlers, type, tree, i, typeLength) {
-	    if (!tree) {
-	      return null;
-	    }
-
-	    if (i === 0) {
-	      var kind = typeof type;
-	      if (kind === 'string') {
-	        var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length;
-	        if ((n = type.indexOf(delimiter)) !== -1) {
-	          ns = new Array(5);
-	          do {
-	            ns[l++] = type.slice(j, n);
-	            j = n + dl;
-	          } while ((n = type.indexOf(delimiter, j)) !== -1);
-
-	          ns[l++] = type.slice(j);
-	          type = ns;
-	          typeLength = l;
-	        } else {
-	          type = [type];
-	          typeLength = 1;
-	        }
-	      } else if (kind === 'object') {
-	        typeLength = type.length;
-	      } else {
-	        type = [type];
-	        typeLength = 1;
-	      }
-	    }
-
-	    var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
-	        nextType = type[i + 1], branches, _listeners;
-
-	    if (i === typeLength) {
-	      //
-	      // If at the end of the event(s) list and the tree has listeners
-	      // invoke those listeners.
-	      //
-
-	      if(tree._listeners) {
-	        if (typeof tree._listeners === 'function') {
-	          handlers && handlers.push(tree._listeners);
-	          listeners = [tree];
-	        } else {
-	          handlers && handlers.push.apply(handlers, tree._listeners);
-	          listeners = [tree];
-	        }
-	      }
-	    } else {
-
-	      if (currentType === '*') {
-	        //
-	        // If the event emitted is '*' at this part
-	        // or there is a concrete match at this patch
-	        //
-	        branches = ownKeys(tree);
-	        n = branches.length;
-	        while (n-- > 0) {
-	          branch = branches[n];
-	          if (branch !== '_listeners') {
-	            _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
-	            if (_listeners) {
-	              if (listeners) {
-	                listeners.push.apply(listeners, _listeners);
-	              } else {
-	                listeners = _listeners;
-	              }
-	            }
-	          }
-	        }
-	        return listeners;
-	      } else if (currentType === '**') {
-	        endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
-	        if (endReached && tree._listeners) {
-	          // The next element has a _listeners, add it to the handlers.
-	          listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
-	        }
-
-	        branches = ownKeys(tree);
-	        n = branches.length;
-	        while (n-- > 0) {
-	          branch = branches[n];
-	          if (branch !== '_listeners') {
-	            if (branch === '*' || branch === '**') {
-	              if (tree[branch]._listeners && !endReached) {
-	                _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
-	                if (_listeners) {
-	                  if (listeners) {
-	                    listeners.push.apply(listeners, _listeners);
-	                  } else {
-	                    listeners = _listeners;
-	                  }
-	                }
-	              }
-	              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
-	            } else if (branch === nextType) {
-	              _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
-	            } else {
-	              // No match on this one, shift into the tree but not in the type array.
-	              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
-	            }
-	            if (_listeners) {
-	              if (listeners) {
-	                listeners.push.apply(listeners, _listeners);
-	              } else {
-	                listeners = _listeners;
-	              }
-	            }
-	          }
-	        }
-	        return listeners;
-	      } else if (tree[currentType]) {
-	        listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
-	      }
-	    }
-
-	      xTree = tree['*'];
-	    if (xTree) {
-	      //
-	      // If the listener tree will allow any match for this part,
-	      // then recursively explore all branches of the tree
-	      //
-	      searchListenerTree(handlers, type, xTree, i + 1, typeLength);
-	    }
-
-	    xxTree = tree['**'];
-	    if (xxTree) {
-	      if (i < typeLength) {
-	        if (xxTree._listeners) {
-	          // If we have a listener on a '**', it will catch all, so add its handler.
-	          searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
-	        }
-
-	        // Build arrays of matching next branches and others.
-	        branches= ownKeys(xxTree);
-	        n= branches.length;
-	        while(n-->0){
-	          branch= branches[n];
-	          if (branch !== '_listeners') {
-	            if (branch === nextType) {
-	              // We know the next element will match, so jump twice.
-	              searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength);
-	            } else if (branch === currentType) {
-	              // Current node matches, move into the tree.
-	              searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength);
-	            } else {
-	              isolatedBranch = {};
-	              isolatedBranch[branch] = xxTree[branch];
-	              searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength);
-	            }
-	          }
-	        }
-	      } else if (xxTree._listeners) {
-	        // We have reached the end and still on a '**'
-	        searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
-	      } else if (xxTree['*'] && xxTree['*']._listeners) {
-	        searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength);
-	      }
-	    }
-
-	    return listeners;
-	  }
-
-	  function growListenerTree(type, listener, prepend) {
-	    var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns;
-
-	    if(typeof type==='string') {
-	      if ((i = type.indexOf(delimiter)) !== -1) {
-	        ns = new Array(5);
-	        do {
-	          ns[len++] = type.slice(j, i);
-	          j = i + dl;
-	        } while ((i = type.indexOf(delimiter, j)) !== -1);
-
-	        ns[len++] = type.slice(j);
-	      }else {
-	        ns= [type];
-	        len= 1;
-	      }
-	    }else {
-	      ns= type;
-	      len= type.length;
-	    }
-
-	    //
-	    // Looks for two consecutive '**', if so, don't add the event at all.
-	    //
-	    if (len > 1) {
-	      for (i = 0; i + 1 < len; i++) {
-	        if (ns[i] === '**' && ns[i + 1] === '**') {
-	          return;
-	        }
-	      }
-	    }
-
-
-
-	    var tree = this.listenerTree, name;
-
-	    for (i = 0; i < len; i++) {
-	      name = ns[i];
-
-	      tree = tree[name] || (tree[name] = {});
-
-	      if (i === len - 1) {
-	        if (!tree._listeners) {
-	          tree._listeners = listener;
-	        } else {
-	          if (typeof tree._listeners === 'function') {
-	            tree._listeners = [tree._listeners];
-	          }
-
-	          if (prepend) {
-	            tree._listeners.unshift(listener);
-	          } else {
-	            tree._listeners.push(listener);
-	          }
-
-	          if (
-	              !tree._listeners.warned &&
-	              this._maxListeners > 0 &&
-	              tree._listeners.length > this._maxListeners
-	          ) {
-	            tree._listeners.warned = true;
-	            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
-	          }
-	        }
-	        return true;
-	      }
-	    }
-
-	    return true;
-	  }
-
-	  function collectTreeEvents(tree, events, root, asArray){
-	     var branches= ownKeys(tree);
-	     var i= branches.length;
-	     var branch, branchName, path;
-	     var hasListeners= tree['_listeners'];
-	     var isArrayPath;
-
-	     while(i-->0){
-	         branchName= branches[i];
-
-	         branch= tree[branchName];
-
-	         if(branchName==='_listeners'){
-	             path= root;
-	         }else {
-	             path = root ? root.concat(branchName) : [branchName];
-	         }
-
-	         isArrayPath= asArray || typeof branchName==='symbol';
-
-	         hasListeners && events.push(isArrayPath? path : path.join(this.delimiter));
-
-	         if(typeof branch==='object'){
-	             collectTreeEvents.call(this, branch, events, path, isArrayPath);
-	         }
-	     }
-
-	     return events;
-	  }
-
-	  function recursivelyGarbageCollect(root) {
-	    var keys = ownKeys(root);
-	    var i= keys.length;
-	    var obj, key, flag;
-	    while(i-->0){
-	      key = keys[i];
-	      obj = root[key];
-
-	      if(obj){
-	          flag= true;
-	          if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){
-	             delete root[key];
-	          }
-	      }
-	    }
-
-	    return flag;
-	  }
-
-	  function Listener(emitter, event, listener){
-	    this.emitter= emitter;
-	    this.event= event;
-	    this.listener= listener;
-	  }
-
-	  Listener.prototype.off= function(){
-	    this.emitter.off(this.event, this.listener);
-	    return this;
-	  };
-
-	  function setupListener(event, listener, options){
-	      if (options === true) {
-	        promisify = true;
-	      } else if (options === false) {
-	        async = true;
-	      } else {
-	        if (!options || typeof options !== 'object') {
-	          throw TypeError('options should be an object or true');
-	        }
-	        var async = options.async;
-	        var promisify = options.promisify;
-	        var nextTick = options.nextTick;
-	        var objectify = options.objectify;
-	      }
-
-	      if (async || nextTick || promisify) {
-	        var _listener = listener;
-	        var _origin = listener._origin || listener;
-
-	        if (nextTick && !nextTickSupported) {
-	          throw Error('process.nextTick is not supported');
-	        }
-
-	        if (promisify === undefined$1) {
-	          promisify = listener.constructor.name === 'AsyncFunction';
-	        }
-
-	        listener = function () {
-	          var args = arguments;
-	          var context = this;
-	          var event = this.event;
-
-	          return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) {
-	            _setImmediate(resolve);
-	          }).then(function () {
-	            context.event = event;
-	            return _listener.apply(context, args)
-	          })) : (nextTick ? process.nextTick : _setImmediate)(function () {
-	            context.event = event;
-	            _listener.apply(context, args);
-	          });
-	        };
-
-	        listener._async = true;
-	        listener._origin = _origin;
-	      }
-
-	    return [listener, objectify? new Listener(this, event, listener): this];
-	  }
-
-	  function EventEmitter(conf) {
-	    this._events = {};
-	    this._newListener = false;
-	    this._removeListener = false;
-	    this.verboseMemoryLeak = false;
-	    configure.call(this, conf);
-	  }
-
-	  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
-
-	  EventEmitter.prototype.listenTo= function(target, events, options){
-	    if(typeof target!=='object'){
-	      throw TypeError('target musts be an object');
-	    }
-
-	    var emitter= this;
-
-	    options = resolveOptions(options, {
-	      on: undefined$1,
-	      off: undefined$1,
-	      reducers: undefined$1
-	    }, {
-	      on: functionReducer,
-	      off: functionReducer,
-	      reducers: objectFunctionReducer
-	    });
-
-	    function listen(events){
-	      if(typeof events!=='object'){
-	        throw TypeError('events must be an object');
-	      }
-
-	      var reducers= options.reducers;
-	      var index= findTargetIndex.call(emitter, target);
-	      var observer;
-
-	      if(index===-1){
-	        observer= new TargetObserver(emitter, target, options);
-	      }else {
-	        observer= emitter._observers[index];
-	      }
-
-	      var keys= ownKeys(events);
-	      var len= keys.length;
-	      var event;
-	      var isSingleReducer= typeof reducers==='function';
-
-	      for(var i=0; i<len; i++){
-	        event= keys[i];
-	        observer.subscribe(
-	            event,
-	            events[event] || event,
-	            isSingleReducer ? reducers : reducers && reducers[event]
-	        );
-	      }
-	    }
-
-	    isArray(events)?
-	        listen(toObject(events)) :
-	        (typeof events==='string'? listen(toObject(events.split(/\s+/))): listen(events));
-
-	    return this;
-	  };
-
-	  EventEmitter.prototype.stopListeningTo = function (target, event) {
-	    var observers = this._observers;
-
-	    if(!observers){
-	      return false;
-	    }
-
-	    var i = observers.length;
-	    var observer;
-	    var matched= false;
-
-	    if(target && typeof target!=='object'){
-	      throw TypeError('target should be an object');
-	    }
-
-	    while (i-- > 0) {
-	      observer = observers[i];
-	      if (!target || observer._target === target) {
-	        observer.unsubscribe(event);
-	        matched= true;
-	      }
-	    }
-
-	    return matched;
-	  };
-
-	  // By default EventEmitters will print a warning if more than
-	  // 10 listeners are added to it. This is a useful default which
-	  // helps finding memory leaks.
-	  //
-	  // Obviously not all Emitters should be limited to 10. This function allows
-	  // that to be increased. Set to zero for unlimited.
-
-	  EventEmitter.prototype.delimiter = '.';
-
-	  EventEmitter.prototype.setMaxListeners = function(n) {
-	    if (n !== undefined$1) {
-	      this._maxListeners = n;
-	      if (!this._conf) { this._conf = {}; }
-	      this._conf.maxListeners = n;
-	    }
-	  };
-
-	  EventEmitter.prototype.getMaxListeners = function() {
-	    return this._maxListeners;
-	  };
-
-	  EventEmitter.prototype.event = '';
-
-	  EventEmitter.prototype.once = function(event, fn, options) {
-	    return this._once(event, fn, false, options);
-	  };
-
-	  EventEmitter.prototype.prependOnceListener = function(event, fn, options) {
-	    return this._once(event, fn, true, options);
-	  };
-
-	  EventEmitter.prototype._once = function(event, fn, prepend, options) {
-	    return this._many(event, 1, fn, prepend, options);
-	  };
-
-	  EventEmitter.prototype.many = function(event, ttl, fn, options) {
-	    return this._many(event, ttl, fn, false, options);
-	  };
-
-	  EventEmitter.prototype.prependMany = function(event, ttl, fn, options) {
-	    return this._many(event, ttl, fn, true, options);
-	  };
-
-	  EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) {
-	    var self = this;
-
-	    if (typeof fn !== 'function') {
-	      throw new Error('many only accepts instances of Function');
-	    }
-
-	    function listener() {
-	      if (--ttl === 0) {
-	        self.off(event, listener);
-	      }
-	      return fn.apply(this, arguments);
-	    }
-
-	    listener._origin = fn;
-
-	    return this._on(event, listener, prepend, options);
-	  };
-
-	  EventEmitter.prototype.emit = function() {
-	    var arguments$1 = arguments;
-
-	    if (!this._events && !this._all) {
-	      return false;
-	    }
-
-	    this._events || init.call(this);
-
-	    var type = arguments[0], ns, wildcard= this.wildcard;
-	    var args,l,i,j, containsSymbol;
-
-	    if (type === 'newListener' && !this._newListener) {
-	      if (!this._events.newListener) {
-	        return false;
-	      }
-	    }
-
-	    if (wildcard) {
-	      ns= type;
-	      if(type!=='newListener' && type!=='removeListener'){
-	        if (typeof type === 'object') {
-	          l = type.length;
-	          if (symbolsSupported) {
-	            for (i = 0; i < l; i++) {
-	              if (typeof type[i] === 'symbol') {
-	                containsSymbol = true;
-	                break;
-	              }
-	            }
-	          }
-	          if (!containsSymbol) {
-	            type = type.join(this.delimiter);
-	          }
-	        }
-	      }
-	    }
-
-	    var al = arguments.length;
-	    var handler;
-
-	    if (this._all && this._all.length) {
-	      handler = this._all.slice();
-
-	      for (i = 0, l = handler.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          handler[i].call(this, type);
-	          break;
-	        case 2:
-	          handler[i].call(this, type, arguments$1[1]);
-	          break;
-	        case 3:
-	          handler[i].call(this, type, arguments$1[1], arguments$1[2]);
-	          break;
-	        default:
-	          handler[i].apply(this, arguments$1);
-	        }
-	      }
-	    }
-
-	    if (wildcard) {
-	      handler = [];
-	      searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l);
-	    } else {
-	      handler = this._events[type];
-	      if (typeof handler === 'function') {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          handler.call(this);
-	          break;
-	        case 2:
-	          handler.call(this, arguments[1]);
-	          break;
-	        case 3:
-	          handler.call(this, arguments[1], arguments[2]);
-	          break;
-	        default:
-	          args = new Array(al - 1);
-	          for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	          handler.apply(this, args);
-	        }
-	        return true;
-	      } else if (handler) {
-	        // need to make copy of handlers because list can change in the middle
-	        // of emit call
-	        handler = handler.slice();
-	      }
-	    }
-
-	    if (handler && handler.length) {
-	      if (al > 3) {
-	        args = new Array(al - 1);
-	        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	      }
-	      for (i = 0, l = handler.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          handler[i].call(this);
-	          break;
-	        case 2:
-	          handler[i].call(this, arguments$1[1]);
-	          break;
-	        case 3:
-	          handler[i].call(this, arguments$1[1], arguments$1[2]);
-	          break;
-	        default:
-	          handler[i].apply(this, args);
-	        }
-	      }
-	      return true;
-	    } else if (!this.ignoreErrors && !this._all && type === 'error') {
-	      if (arguments[1] instanceof Error) {
-	        throw arguments[1]; // Unhandled 'error' event
-	      } else {
-	        throw new Error("Uncaught, unspecified 'error' event.");
-	      }
-	    }
-
-	    return !!this._all;
-	  };
-
-	  EventEmitter.prototype.emitAsync = function() {
-	    var arguments$1 = arguments;
-
-	    if (!this._events && !this._all) {
-	      return false;
-	    }
-
-	    this._events || init.call(this);
-
-	    var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol;
-	    var args,l,i,j;
-
-	    if (type === 'newListener' && !this._newListener) {
-	        if (!this._events.newListener) { return Promise.resolve([false]); }
-	    }
-
-	    if (wildcard) {
-	      ns= type;
-	      if(type!=='newListener' && type!=='removeListener'){
-	        if (typeof type === 'object') {
-	          l = type.length;
-	          if (symbolsSupported) {
-	            for (i = 0; i < l; i++) {
-	              if (typeof type[i] === 'symbol') {
-	                containsSymbol = true;
-	                break;
-	              }
-	            }
-	          }
-	          if (!containsSymbol) {
-	            type = type.join(this.delimiter);
-	          }
-	        }
-	      }
-	    }
-
-	    var promises= [];
-
-	    var al = arguments.length;
-	    var handler;
-
-	    if (this._all) {
-	      for (i = 0, l = this._all.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          promises.push(this._all[i].call(this, type));
-	          break;
-	        case 2:
-	          promises.push(this._all[i].call(this, type, arguments$1[1]));
-	          break;
-	        case 3:
-	          promises.push(this._all[i].call(this, type, arguments$1[1], arguments$1[2]));
-	          break;
-	        default:
-	          promises.push(this._all[i].apply(this, arguments$1));
-	        }
-	      }
-	    }
-
-	    if (wildcard) {
-	      handler = [];
-	      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
-	    } else {
-	      handler = this._events[type];
-	    }
-
-	    if (typeof handler === 'function') {
-	      this.event = type;
-	      switch (al) {
-	      case 1:
-	        promises.push(handler.call(this));
-	        break;
-	      case 2:
-	        promises.push(handler.call(this, arguments[1]));
-	        break;
-	      case 3:
-	        promises.push(handler.call(this, arguments[1], arguments[2]));
-	        break;
-	      default:
-	        args = new Array(al - 1);
-	        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	        promises.push(handler.apply(this, args));
-	      }
-	    } else if (handler && handler.length) {
-	      handler = handler.slice();
-	      if (al > 3) {
-	        args = new Array(al - 1);
-	        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	      }
-	      for (i = 0, l = handler.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          promises.push(handler[i].call(this));
-	          break;
-	        case 2:
-	          promises.push(handler[i].call(this, arguments$1[1]));
-	          break;
-	        case 3:
-	          promises.push(handler[i].call(this, arguments$1[1], arguments$1[2]));
-	          break;
-	        default:
-	          promises.push(handler[i].apply(this, args));
-	        }
-	      }
-	    } else if (!this.ignoreErrors && !this._all && type === 'error') {
-	      if (arguments[1] instanceof Error) {
-	        return Promise.reject(arguments[1]); // Unhandled 'error' event
-	      } else {
-	        return Promise.reject("Uncaught, unspecified 'error' event.");
-	      }
-	    }
-
-	    return Promise.all(promises);
-	  };
-
-	  EventEmitter.prototype.on = function(type, listener, options) {
-	    return this._on(type, listener, false, options);
-	  };
-
-	  EventEmitter.prototype.prependListener = function(type, listener, options) {
-	    return this._on(type, listener, true, options);
-	  };
-
-	  EventEmitter.prototype.onAny = function(fn) {
-	    return this._onAny(fn, false);
-	  };
-
-	  EventEmitter.prototype.prependAny = function(fn) {
-	    return this._onAny(fn, true);
-	  };
-
-	  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
-
-	  EventEmitter.prototype._onAny = function(fn, prepend){
-	    if (typeof fn !== 'function') {
-	      throw new Error('onAny only accepts instances of Function');
-	    }
-
-	    if (!this._all) {
-	      this._all = [];
-	    }
-
-	    // Add the function to the event listener collection.
-	    if(prepend){
-	      this._all.unshift(fn);
-	    }else {
-	      this._all.push(fn);
-	    }
-
-	    return this;
-	  };
-
-	  EventEmitter.prototype._on = function(type, listener, prepend, options) {
-	    if (typeof type === 'function') {
-	      this._onAny(type, listener);
-	      return this;
-	    }
-
-	    if (typeof listener !== 'function') {
-	      throw new Error('on only accepts instances of Function');
-	    }
-	    this._events || init.call(this);
-
-	    var returnValue= this, temp;
-
-	    if (options !== undefined$1) {
-	      temp = setupListener.call(this, type, listener, options);
-	      listener = temp[0];
-	      returnValue = temp[1];
-	    }
-
-	    // To avoid recursion in the case that type == "newListeners"! Before
-	    // adding it to the listeners, first emit "newListeners".
-	    if (this._newListener) {
-	      this.emit('newListener', type, listener);
-	    }
-
-	    if (this.wildcard) {
-	      growListenerTree.call(this, type, listener, prepend);
-	      return returnValue;
-	    }
-
-	    if (!this._events[type]) {
-	      // Optimize the case of one listener. Don't need the extra array object.
-	      this._events[type] = listener;
-	    } else {
-	      if (typeof this._events[type] === 'function') {
-	        // Change to array.
-	        this._events[type] = [this._events[type]];
-	      }
-
-	      // If we've already got an array, just add
-	      if(prepend){
-	        this._events[type].unshift(listener);
-	      }else {
-	        this._events[type].push(listener);
-	      }
-
-	      // Check for listener leak
-	      if (
-	        !this._events[type].warned &&
-	        this._maxListeners > 0 &&
-	        this._events[type].length > this._maxListeners
-	      ) {
-	        this._events[type].warned = true;
-	        logPossibleMemoryLeak.call(this, this._events[type].length, type);
-	      }
-	    }
-
-	    return returnValue;
-	  };
-
-	  EventEmitter.prototype.off = function(type, listener) {
-	    if (typeof listener !== 'function') {
-	      throw new Error('removeListener only takes instances of Function');
-	    }
-
-	    var handlers,leafs=[];
-
-	    if(this.wildcard) {
-	      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-	      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
-	      if(!leafs) { return this; }
-	    } else {
-	      // does not use listeners(), so no side effect of creating _events[type]
-	      if (!this._events[type]) { return this; }
-	      handlers = this._events[type];
-	      leafs.push({_listeners:handlers});
-	    }
-
-	    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
-	      var leaf = leafs[iLeaf];
-	      handlers = leaf._listeners;
-	      if (isArray(handlers)) {
-
-	        var position = -1;
-
-	        for (var i = 0, length = handlers.length; i < length; i++) {
-	          if (handlers[i] === listener ||
-	            (handlers[i].listener && handlers[i].listener === listener) ||
-	            (handlers[i]._origin && handlers[i]._origin === listener)) {
-	            position = i;
-	            break;
-	          }
-	        }
-
-	        if (position < 0) {
-	          continue;
-	        }
-
-	        if(this.wildcard) {
-	          leaf._listeners.splice(position, 1);
-	        }
-	        else {
-	          this._events[type].splice(position, 1);
-	        }
-
-	        if (handlers.length === 0) {
-	          if(this.wildcard) {
-	            delete leaf._listeners;
-	          }
-	          else {
-	            delete this._events[type];
-	          }
-	        }
-	        if (this._removeListener)
-	          { this.emit("removeListener", type, listener); }
-
-	        return this;
-	      }
-	      else if (handlers === listener ||
-	        (handlers.listener && handlers.listener === listener) ||
-	        (handlers._origin && handlers._origin === listener)) {
-	        if(this.wildcard) {
-	          delete leaf._listeners;
-	        }
-	        else {
-	          delete this._events[type];
-	        }
-	        if (this._removeListener)
-	          { this.emit("removeListener", type, listener); }
-	      }
-	    }
-
-	    this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
-
-	    return this;
-	  };
-
-	  EventEmitter.prototype.offAny = function(fn) {
-	    var i = 0, l = 0, fns;
-	    if (fn && this._all && this._all.length > 0) {
-	      fns = this._all;
-	      for(i = 0, l = fns.length; i < l; i++) {
-	        if(fn === fns[i]) {
-	          fns.splice(i, 1);
-	          if (this._removeListener)
-	            { this.emit("removeListenerAny", fn); }
-	          return this;
-	        }
-	      }
-	    } else {
-	      fns = this._all;
-	      if (this._removeListener) {
-	        for(i = 0, l = fns.length; i < l; i++)
-	          { this.emit("removeListenerAny", fns[i]); }
-	      }
-	      this._all = [];
-	    }
-	    return this;
-	  };
-
-	  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
-
-	  EventEmitter.prototype.removeAllListeners = function (type) {
-	    if (type === undefined$1) {
-	      !this._events || init.call(this);
-	      return this;
-	    }
-
-	    if (this.wildcard) {
-	      var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i;
-	      if (!leafs) { return this; }
-	      for (i = 0; i < leafs.length; i++) {
-	        leaf = leafs[i];
-	        leaf._listeners = null;
-	      }
-	      this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
-	    } else if (this._events) {
-	      this._events[type] = null;
-	    }
-	    return this;
-	  };
-
-	  EventEmitter.prototype.listeners = function (type) {
-	    var _events = this._events;
-	    var keys, listeners, allListeners;
-	    var i;
-	    var listenerTree;
-
-	    if (type === undefined$1) {
-	      if (this.wildcard) {
-	        throw Error('event name required for wildcard emitter');
-	      }
-
-	      if (!_events) {
-	        return [];
-	      }
-
-	      keys = ownKeys(_events);
-	      i = keys.length;
-	      allListeners = [];
-	      while (i-- > 0) {
-	        listeners = _events[keys[i]];
-	        if (typeof listeners === 'function') {
-	          allListeners.push(listeners);
-	        } else {
-	          allListeners.push.apply(allListeners, listeners);
-	        }
-	      }
-	      return allListeners;
-	    } else {
-	      if (this.wildcard) {
-	        listenerTree= this.listenerTree;
-	        if(!listenerTree) { return []; }
-	        var handlers = [];
-	        var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-	        searchListenerTree.call(this, handlers, ns, listenerTree, 0);
-	        return handlers;
-	      }
-
-	      if (!_events) {
-	        return [];
-	      }
-
-	      listeners = _events[type];
-
-	      if (!listeners) {
-	        return [];
-	      }
-	      return typeof listeners === 'function' ? [listeners] : listeners;
-	    }
-	  };
-
-	  EventEmitter.prototype.eventNames = function(nsAsArray){
-	    var _events= this._events;
-	    return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []);
-	  };
-
-	  EventEmitter.prototype.listenerCount = function(type) {
-	    return this.listeners(type).length;
-	  };
-
-	  EventEmitter.prototype.hasListeners = function (type) {
-	    if (this.wildcard) {
-	      var handlers = [];
-	      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-	      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
-	      return handlers.length > 0;
-	    }
-
-	    var _events = this._events;
-	    var _all = this._all;
-
-	    return !!(_all && _all.length || _events && (type === undefined$1 ? ownKeys(_events).length : _events[type]));
-	  };
-
-	  EventEmitter.prototype.listenersAny = function() {
-
-	    if(this._all) {
-	      return this._all;
-	    }
-	    else {
-	      return [];
-	    }
-
-	  };
-
-	  EventEmitter.prototype.waitFor = function (event, options) {
-	    var self = this;
-	    var type = typeof options;
-	    if (type === 'number') {
-	      options = {timeout: options};
-	    } else if (type === 'function') {
-	      options = {filter: options};
-	    }
-
-	    options= resolveOptions(options, {
-	      timeout: 0,
-	      filter: undefined$1,
-	      handleError: false,
-	      Promise: Promise,
-	      overload: false
-	    }, {
-	      filter: functionReducer,
-	      Promise: constructorReducer
-	    });
-
-	    return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) {
-	      function listener() {
-	        var filter= options.filter;
-	        if (filter && !filter.apply(self, arguments)) {
-	          return;
-	        }
-	        self.off(event, listener);
-	        if (options.handleError) {
-	          var err = arguments[0];
-	          err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1));
-	        } else {
-	          resolve(toArray.apply(null, arguments));
-	        }
-	      }
-
-	      onCancel(function(){
-	        self.off(event, listener);
-	      });
-
-	      self._on(event, listener, false);
-	    }, {
-	      timeout: options.timeout,
-	      overload: options.overload
-	    })
-	  };
-
-	  function once(emitter, name, options) {
-	    options= resolveOptions(options, {
-	      Promise: Promise,
-	      timeout: 0,
-	      overload: false
-	    }, {
-	      Promise: constructorReducer
-	    });
-
-	    var _Promise= options.Promise;
-
-	    return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){
-	      var handler;
-	      if (typeof emitter.addEventListener === 'function') {
-	        handler=  function () {
-	          resolve(toArray.apply(null, arguments));
-	        };
-
-	        onCancel(function(){
-	          emitter.removeEventListener(name, handler);
-	        });
-
-	        emitter.addEventListener(
-	            name,
-	            handler,
-	            {once: true}
-	        );
-	        return;
-	      }
-
-	      var eventListener = function(){
-	        errorListener && emitter.removeListener('error', errorListener);
-	        resolve(toArray.apply(null, arguments));
-	      };
-
-	      var errorListener;
-
-	      if (name !== 'error') {
-	        errorListener = function (err){
-	          emitter.removeListener(name, eventListener);
-	          reject(err);
-	        };
-
-	        emitter.once('error', errorListener);
-	      }
-
-	      onCancel(function(){
-	        errorListener && emitter.removeListener('error', errorListener);
-	        emitter.removeListener(name, eventListener);
-	      });
-
-	      emitter.once(name, eventListener);
-	    }, {
-	      timeout: options.timeout,
-	      overload: options.overload
-	    });
-	  }
-
-	  var prototype= EventEmitter.prototype;
-
-	  Object.defineProperties(EventEmitter, {
-	    defaultMaxListeners: {
-	      get: function () {
-	        return prototype._maxListeners;
-	      },
-	      set: function (n) {
-	        if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) {
-	          throw TypeError('n must be a non-negative number')
-	        }
-	        prototype._maxListeners = n;
-	      },
-	      enumerable: true
-	    },
-	    once: {
-	      value: once,
-	      writable: true,
-	      configurable: true
-	    }
-	  });
-
-	  Object.defineProperties(prototype, {
-	      _maxListeners: {
-	          value: defaultMaxListeners,
-	          writable: true,
-	          configurable: true
-	      },
-	      _observers: {value: null, writable: true, configurable: true}
-	  });
-
-	  if (typeof undefined$1 === 'function' && undefined$1.amd) {
-	     // AMD. Register as an anonymous module.
-	    undefined$1(function() {
-	      return EventEmitter;
-	    });
-	  } else {
-	    // CommonJS
-	    module.exports = EventEmitter;
-	  }
-	}(); 
-} (eventemitter2, eventemitter2.exports));
-
-var eventemitter2Exports = eventemitter2.exports;
+		  var hasOwnProperty= Object.hasOwnProperty;
+		  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
+		    return Object.prototype.toString.call(obj) === "[object Array]";
+		  };
+		  var defaultMaxListeners = 10;
+		  var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function';
+		  var symbolsSupported= typeof Symbol==='function';
+		  var reflectSupported= typeof Reflect === 'object';
+		  var setImmediateSupported= typeof setImmediate === 'function';
+		  var _setImmediate= setImmediateSupported ? setImmediate : setTimeout;
+		  var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){
+		    var arr= Object.getOwnPropertyNames(obj);
+		    arr.push.apply(arr, Object.getOwnPropertySymbols(obj));
+		    return arr;
+		  }) : Object.keys;
+
+		  function init() {
+		    this._events = {};
+		    if (this._conf) {
+		      configure.call(this, this._conf);
+		    }
+		  }
+
+		  function configure(conf) {
+		    if (conf) {
+		      this._conf = conf;
+
+		      conf.delimiter && (this.delimiter = conf.delimiter);
+
+		      if(conf.maxListeners!==undefined$1){
+		          this._maxListeners= conf.maxListeners;
+		      }
+
+		      conf.wildcard && (this.wildcard = conf.wildcard);
+		      conf.newListener && (this._newListener = conf.newListener);
+		      conf.removeListener && (this._removeListener = conf.removeListener);
+		      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
+		      conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors);
+
+		      if (this.wildcard) {
+		        this.listenerTree = {};
+		      }
+		    }
+		  }
+
+		  function logPossibleMemoryLeak(count, eventName) {
+		    var errorMsg = '(node) warning: possible EventEmitter memory ' +
+		        'leak detected. ' + count + ' listeners added. ' +
+		        'Use emitter.setMaxListeners() to increase limit.';
+
+		    if(this.verboseMemoryLeak){
+		      errorMsg += ' Event name: ' + eventName + '.';
+		    }
+
+		    if(typeof process !== 'undefined' && process.emitWarning){
+		      var e = new Error(errorMsg);
+		      e.name = 'MaxListenersExceededWarning';
+		      e.emitter = this;
+		      e.count = count;
+		      process.emitWarning(e);
+		    } else {
+		      console.error(errorMsg);
+
+		      if (console.trace){
+		        console.trace();
+		      }
+		    }
+		  }
+
+		  var toArray = function (a, b, c) {
+		    var arguments$1 = arguments;
+
+		    var n = arguments.length;
+		    switch (n) {
+		      case 0:
+		        return [];
+		      case 1:
+		        return [a];
+		      case 2:
+		        return [a, b];
+		      case 3:
+		        return [a, b, c];
+		      default:
+		        var arr = new Array(n);
+		        while (n--) {
+		          arr[n] = arguments$1[n];
+		        }
+		        return arr;
+		    }
+		  };
+
+		  function toObject(keys, values) {
+		    var obj = {};
+		    var key;
+		    var len = keys.length;
+		    var valuesCount = values ? value.length : 0;
+		    for (var i = 0; i < len; i++) {
+		      key = keys[i];
+		      obj[key] = i < valuesCount ? values[i] : undefined$1;
+		    }
+		    return obj;
+		  }
+
+		  function TargetObserver(emitter, target, options) {
+		    this._emitter = emitter;
+		    this._target = target;
+		    this._listeners = {};
+		    this._listenersCount = 0;
+
+		    var on, off;
+
+		    if (options.on || options.off) {
+		      on = options.on;
+		      off = options.off;
+		    }
+
+		    if (target.addEventListener) {
+		      on = target.addEventListener;
+		      off = target.removeEventListener;
+		    } else if (target.addListener) {
+		      on = target.addListener;
+		      off = target.removeListener;
+		    } else if (target.on) {
+		      on = target.on;
+		      off = target.off;
+		    }
+
+		    if (!on && !off) {
+		      throw Error('target does not implement any known event API');
+		    }
+
+		    if (typeof on !== 'function') {
+		      throw TypeError('on method must be a function');
+		    }
+
+		    if (typeof off !== 'function') {
+		      throw TypeError('off method must be a function');
+		    }
+
+		    this._on = on;
+		    this._off = off;
+
+		    var _observers= emitter._observers;
+		    if(_observers){
+		      _observers.push(this);
+		    }else {
+		      emitter._observers= [this];
+		    }
+		  }
+
+		  Object.assign(TargetObserver.prototype, {
+		    subscribe: function(event, localEvent, reducer){
+		      var observer= this;
+		      var target= this._target;
+		      var emitter= this._emitter;
+		      var listeners= this._listeners;
+		      var handler= function(){
+		        var args= toArray.apply(null, arguments);
+		        var eventObj= {
+		          data: args,
+		          name: localEvent,
+		          original: event
+		        };
+		        if(reducer){
+		          var result= reducer.call(target, eventObj);
+		          if(result!==false){
+		            emitter.emit.apply(emitter, [eventObj.name].concat(args));
+		          }
+		          return;
+		        }
+		        emitter.emit.apply(emitter, [localEvent].concat(args));
+		      };
+
+
+		      if(listeners[event]){
+		        throw Error('Event \'' + event + '\' is already listening');
+		      }
+
+		      this._listenersCount++;
+
+		      if(emitter._newListener && emitter._removeListener && !observer._onNewListener){
+
+		        this._onNewListener = function (_event) {
+		          if (_event === localEvent && listeners[event] === null) {
+		            listeners[event] = handler;
+		            observer._on.call(target, event, handler);
+		          }
+		        };
+
+		        emitter.on('newListener', this._onNewListener);
+
+		        this._onRemoveListener= function(_event){
+		          if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){
+		            listeners[event]= null;
+		            observer._off.call(target, event, handler);
+		          }
+		        };
+
+		        listeners[event]= null;
+
+		        emitter.on('removeListener', this._onRemoveListener);
+		      }else {
+		        listeners[event]= handler;
+		        observer._on.call(target, event, handler);
+		      }
+		    },
+
+		    unsubscribe: function(event){
+		      var observer= this;
+		      var listeners= this._listeners;
+		      var emitter= this._emitter;
+		      var handler;
+		      var events;
+		      var off= this._off;
+		      var target= this._target;
+		      var i;
+
+		      if(event && typeof event!=='string'){
+		        throw TypeError('event must be a string');
+		      }
+
+		      function clearRefs(){
+		        if(observer._onNewListener){
+		          emitter.off('newListener', observer._onNewListener);
+		          emitter.off('removeListener', observer._onRemoveListener);
+		          observer._onNewListener= null;
+		          observer._onRemoveListener= null;
+		        }
+		        var index= findTargetIndex.call(emitter, observer);
+		        emitter._observers.splice(index, 1);
+		      }
+
+		      if(event){
+		        handler= listeners[event];
+		        if(!handler) { return; }
+		        off.call(target, event, handler);
+		        delete listeners[event];
+		        if(!--this._listenersCount){
+		          clearRefs();
+		        }
+		      }else {
+		        events= ownKeys(listeners);
+		        i= events.length;
+		        while(i-->0){
+		          event= events[i];
+		          off.call(target, event, listeners[event]);
+		        }
+		        this._listeners= {};
+		        this._listenersCount= 0;
+		        clearRefs();
+		      }
+		    }
+		  });
+
+		  function resolveOptions(options, schema, reducers, allowUnknown) {
+		    var computedOptions = Object.assign({}, schema);
+
+		    if (!options) { return computedOptions; }
+
+		    if (typeof options !== 'object') {
+		      throw TypeError('options must be an object')
+		    }
+
+		    var keys = Object.keys(options);
+		    var length = keys.length;
+		    var option, value;
+		    var reducer;
+
+		    function reject(reason) {
+		      throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : ''))
+		    }
+
+		    for (var i = 0; i < length; i++) {
+		      option = keys[i];
+		      if (!allowUnknown && !hasOwnProperty.call(schema, option)) {
+		        throw Error('Unknown "' + option + '" option');
+		      }
+		      value = options[option];
+		      if (value !== undefined$1) {
+		        reducer = reducers[option];
+		        computedOptions[option] = reducer ? reducer(value, reject) : value;
+		      }
+		    }
+		    return computedOptions;
+		  }
+
+		  function constructorReducer(value, reject) {
+		    if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) {
+		      reject('value must be a constructor');
+		    }
+		    return value;
+		  }
+
+		  function makeTypeReducer(types) {
+		    var message= 'value must be type of ' + types.join('|');
+		    var len= types.length;
+		    var firstType= types[0];
+		    var secondType= types[1];
+
+		    if (len === 1) {
+		      return function (v, reject) {
+		        if (typeof v === firstType) {
+		          return v;
+		        }
+		        reject(message);
+		      }
+		    }
+
+		    if (len === 2) {
+		      return function (v, reject) {
+		        var kind= typeof v;
+		        if (kind === firstType || kind === secondType) { return v; }
+		        reject(message);
+		      }
+		    }
+
+		    return function (v, reject) {
+		      var kind = typeof v;
+		      var i = len;
+		      while (i-- > 0) {
+		        if (kind === types[i]) { return v; }
+		      }
+		      reject(message);
+		    }
+		  }
+
+		  var functionReducer= makeTypeReducer(['function']);
+
+		  var objectFunctionReducer= makeTypeReducer(['object', 'function']);
+
+		  function makeCancelablePromise(Promise, executor, options) {
+		    var isCancelable;
+		    var callbacks;
+		    var timer= 0;
+		    var subscriptionClosed;
+
+		    var promise = new Promise(function (resolve, reject, onCancel) {
+		      options= resolveOptions(options, {
+		        timeout: 0,
+		        overload: false
+		      }, {
+		        timeout: function(value, reject){
+		          value*= 1;
+		          if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) {
+		            reject('timeout must be a positive number');
+		          }
+		          return value;
+		        }
+		      });
+
+		      isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function';
+
+		      function cleanup() {
+		        if (callbacks) {
+		          callbacks = null;
+		        }
+		        if (timer) {
+		          clearTimeout(timer);
+		          timer = 0;
+		        }
+		      }
+
+		      var _resolve= function(value){
+		        cleanup();
+		        resolve(value);
+		      };
+
+		      var _reject= function(err){
+		        cleanup();
+		        reject(err);
+		      };
+
+		      if (isCancelable) {
+		        executor(_resolve, _reject, onCancel);
+		      } else {
+		        callbacks = [function(reason){
+		          _reject(reason || Error('canceled'));
+		        }];
+		        executor(_resolve, _reject, function (cb) {
+		          if (subscriptionClosed) {
+		            throw Error('Unable to subscribe on cancel event asynchronously')
+		          }
+		          if (typeof cb !== 'function') {
+		            throw TypeError('onCancel callback must be a function');
+		          }
+		          callbacks.push(cb);
+		        });
+		        subscriptionClosed= true;
+		      }
+
+		      if (options.timeout > 0) {
+		        timer= setTimeout(function(){
+		          var reason= Error('timeout');
+		          reason.code = 'ETIMEDOUT';
+		          timer= 0;
+		          promise.cancel(reason);
+		          reject(reason);
+		        }, options.timeout);
+		      }
+		    });
+
+		    if (!isCancelable) {
+		      promise.cancel = function (reason) {
+		        if (!callbacks) {
+		          return;
+		        }
+		        var length = callbacks.length;
+		        for (var i = 1; i < length; i++) {
+		          callbacks[i](reason);
+		        }
+		        // internal callback to reject the promise
+		        callbacks[0](reason);
+		        callbacks = null;
+		      };
+		    }
+
+		    return promise;
+		  }
+
+		  function findTargetIndex(observer) {
+		    var observers = this._observers;
+		    if(!observers){
+		      return -1;
+		    }
+		    var len = observers.length;
+		    for (var i = 0; i < len; i++) {
+		      if (observers[i]._target === observer) { return i; }
+		    }
+		    return -1;
+		  }
+
+		  // Attention, function return type now is array, always !
+		  // It has zero elements if no any matches found and one or more
+		  // elements (leafs) if there are matches
+		  //
+		  function searchListenerTree(handlers, type, tree, i, typeLength) {
+		    if (!tree) {
+		      return null;
+		    }
+
+		    if (i === 0) {
+		      var kind = typeof type;
+		      if (kind === 'string') {
+		        var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length;
+		        if ((n = type.indexOf(delimiter)) !== -1) {
+		          ns = new Array(5);
+		          do {
+		            ns[l++] = type.slice(j, n);
+		            j = n + dl;
+		          } while ((n = type.indexOf(delimiter, j)) !== -1);
+
+		          ns[l++] = type.slice(j);
+		          type = ns;
+		          typeLength = l;
+		        } else {
+		          type = [type];
+		          typeLength = 1;
+		        }
+		      } else if (kind === 'object') {
+		        typeLength = type.length;
+		      } else {
+		        type = [type];
+		        typeLength = 1;
+		      }
+		    }
+
+		    var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
+		        nextType = type[i + 1], branches, _listeners;
+
+		    if (i === typeLength) {
+		      //
+		      // If at the end of the event(s) list and the tree has listeners
+		      // invoke those listeners.
+		      //
+
+		      if(tree._listeners) {
+		        if (typeof tree._listeners === 'function') {
+		          handlers && handlers.push(tree._listeners);
+		          listeners = [tree];
+		        } else {
+		          handlers && handlers.push.apply(handlers, tree._listeners);
+		          listeners = [tree];
+		        }
+		      }
+		    } else {
+
+		      if (currentType === '*') {
+		        //
+		        // If the event emitted is '*' at this part
+		        // or there is a concrete match at this patch
+		        //
+		        branches = ownKeys(tree);
+		        n = branches.length;
+		        while (n-- > 0) {
+		          branch = branches[n];
+		          if (branch !== '_listeners') {
+		            _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
+		            if (_listeners) {
+		              if (listeners) {
+		                listeners.push.apply(listeners, _listeners);
+		              } else {
+		                listeners = _listeners;
+		              }
+		            }
+		          }
+		        }
+		        return listeners;
+		      } else if (currentType === '**') {
+		        endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
+		        if (endReached && tree._listeners) {
+		          // The next element has a _listeners, add it to the handlers.
+		          listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
+		        }
+
+		        branches = ownKeys(tree);
+		        n = branches.length;
+		        while (n-- > 0) {
+		          branch = branches[n];
+		          if (branch !== '_listeners') {
+		            if (branch === '*' || branch === '**') {
+		              if (tree[branch]._listeners && !endReached) {
+		                _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
+		                if (_listeners) {
+		                  if (listeners) {
+		                    listeners.push.apply(listeners, _listeners);
+		                  } else {
+		                    listeners = _listeners;
+		                  }
+		                }
+		              }
+		              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
+		            } else if (branch === nextType) {
+		              _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
+		            } else {
+		              // No match on this one, shift into the tree but not in the type array.
+		              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
+		            }
+		            if (_listeners) {
+		              if (listeners) {
+		                listeners.push.apply(listeners, _listeners);
+		              } else {
+		                listeners = _listeners;
+		              }
+		            }
+		          }
+		        }
+		        return listeners;
+		      } else if (tree[currentType]) {
+		        listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
+		      }
+		    }
+
+		      xTree = tree['*'];
+		    if (xTree) {
+		      //
+		      // If the listener tree will allow any match for this part,
+		      // then recursively explore all branches of the tree
+		      //
+		      searchListenerTree(handlers, type, xTree, i + 1, typeLength);
+		    }
+
+		    xxTree = tree['**'];
+		    if (xxTree) {
+		      if (i < typeLength) {
+		        if (xxTree._listeners) {
+		          // If we have a listener on a '**', it will catch all, so add its handler.
+		          searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
+		        }
+
+		        // Build arrays of matching next branches and others.
+		        branches= ownKeys(xxTree);
+		        n= branches.length;
+		        while(n-->0){
+		          branch= branches[n];
+		          if (branch !== '_listeners') {
+		            if (branch === nextType) {
+		              // We know the next element will match, so jump twice.
+		              searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength);
+		            } else if (branch === currentType) {
+		              // Current node matches, move into the tree.
+		              searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength);
+		            } else {
+		              isolatedBranch = {};
+		              isolatedBranch[branch] = xxTree[branch];
+		              searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength);
+		            }
+		          }
+		        }
+		      } else if (xxTree._listeners) {
+		        // We have reached the end and still on a '**'
+		        searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
+		      } else if (xxTree['*'] && xxTree['*']._listeners) {
+		        searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength);
+		      }
+		    }
+
+		    return listeners;
+		  }
+
+		  function growListenerTree(type, listener, prepend) {
+		    var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns;
+
+		    if(typeof type==='string') {
+		      if ((i = type.indexOf(delimiter)) !== -1) {
+		        ns = new Array(5);
+		        do {
+		          ns[len++] = type.slice(j, i);
+		          j = i + dl;
+		        } while ((i = type.indexOf(delimiter, j)) !== -1);
+
+		        ns[len++] = type.slice(j);
+		      }else {
+		        ns= [type];
+		        len= 1;
+		      }
+		    }else {
+		      ns= type;
+		      len= type.length;
+		    }
+
+		    //
+		    // Looks for two consecutive '**', if so, don't add the event at all.
+		    //
+		    if (len > 1) {
+		      for (i = 0; i + 1 < len; i++) {
+		        if (ns[i] === '**' && ns[i + 1] === '**') {
+		          return;
+		        }
+		      }
+		    }
+
+
+
+		    var tree = this.listenerTree, name;
+
+		    for (i = 0; i < len; i++) {
+		      name = ns[i];
+
+		      tree = tree[name] || (tree[name] = {});
+
+		      if (i === len - 1) {
+		        if (!tree._listeners) {
+		          tree._listeners = listener;
+		        } else {
+		          if (typeof tree._listeners === 'function') {
+		            tree._listeners = [tree._listeners];
+		          }
+
+		          if (prepend) {
+		            tree._listeners.unshift(listener);
+		          } else {
+		            tree._listeners.push(listener);
+		          }
+
+		          if (
+		              !tree._listeners.warned &&
+		              this._maxListeners > 0 &&
+		              tree._listeners.length > this._maxListeners
+		          ) {
+		            tree._listeners.warned = true;
+		            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
+		          }
+		        }
+		        return true;
+		      }
+		    }
+
+		    return true;
+		  }
+
+		  function collectTreeEvents(tree, events, root, asArray){
+		     var branches= ownKeys(tree);
+		     var i= branches.length;
+		     var branch, branchName, path;
+		     var hasListeners= tree['_listeners'];
+		     var isArrayPath;
+
+		     while(i-->0){
+		         branchName= branches[i];
+
+		         branch= tree[branchName];
+
+		         if(branchName==='_listeners'){
+		             path= root;
+		         }else {
+		             path = root ? root.concat(branchName) : [branchName];
+		         }
+
+		         isArrayPath= asArray || typeof branchName==='symbol';
+
+		         hasListeners && events.push(isArrayPath? path : path.join(this.delimiter));
+
+		         if(typeof branch==='object'){
+		             collectTreeEvents.call(this, branch, events, path, isArrayPath);
+		         }
+		     }
+
+		     return events;
+		  }
+
+		  function recursivelyGarbageCollect(root) {
+		    var keys = ownKeys(root);
+		    var i= keys.length;
+		    var obj, key, flag;
+		    while(i-->0){
+		      key = keys[i];
+		      obj = root[key];
+
+		      if(obj){
+		          flag= true;
+		          if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){
+		             delete root[key];
+		          }
+		      }
+		    }
+
+		    return flag;
+		  }
+
+		  function Listener(emitter, event, listener){
+		    this.emitter= emitter;
+		    this.event= event;
+		    this.listener= listener;
+		  }
+
+		  Listener.prototype.off= function(){
+		    this.emitter.off(this.event, this.listener);
+		    return this;
+		  };
+
+		  function setupListener(event, listener, options){
+		      if (options === true) {
+		        promisify = true;
+		      } else if (options === false) {
+		        async = true;
+		      } else {
+		        if (!options || typeof options !== 'object') {
+		          throw TypeError('options should be an object or true');
+		        }
+		        var async = options.async;
+		        var promisify = options.promisify;
+		        var nextTick = options.nextTick;
+		        var objectify = options.objectify;
+		      }
+
+		      if (async || nextTick || promisify) {
+		        var _listener = listener;
+		        var _origin = listener._origin || listener;
+
+		        if (nextTick && !nextTickSupported) {
+		          throw Error('process.nextTick is not supported');
+		        }
+
+		        if (promisify === undefined$1) {
+		          promisify = listener.constructor.name === 'AsyncFunction';
+		        }
+
+		        listener = function () {
+		          var args = arguments;
+		          var context = this;
+		          var event = this.event;
+
+		          return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) {
+		            _setImmediate(resolve);
+		          }).then(function () {
+		            context.event = event;
+		            return _listener.apply(context, args)
+		          })) : (nextTick ? process.nextTick : _setImmediate)(function () {
+		            context.event = event;
+		            _listener.apply(context, args);
+		          });
+		        };
+
+		        listener._async = true;
+		        listener._origin = _origin;
+		      }
+
+		    return [listener, objectify? new Listener(this, event, listener): this];
+		  }
+
+		  function EventEmitter(conf) {
+		    this._events = {};
+		    this._newListener = false;
+		    this._removeListener = false;
+		    this.verboseMemoryLeak = false;
+		    configure.call(this, conf);
+		  }
+
+		  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
+
+		  EventEmitter.prototype.listenTo= function(target, events, options){
+		    if(typeof target!=='object'){
+		      throw TypeError('target musts be an object');
+		    }
+
+		    var emitter= this;
+
+		    options = resolveOptions(options, {
+		      on: undefined$1,
+		      off: undefined$1,
+		      reducers: undefined$1
+		    }, {
+		      on: functionReducer,
+		      off: functionReducer,
+		      reducers: objectFunctionReducer
+		    });
+
+		    function listen(events){
+		      if(typeof events!=='object'){
+		        throw TypeError('events must be an object');
+		      }
+
+		      var reducers= options.reducers;
+		      var index= findTargetIndex.call(emitter, target);
+		      var observer;
+
+		      if(index===-1){
+		        observer= new TargetObserver(emitter, target, options);
+		      }else {
+		        observer= emitter._observers[index];
+		      }
+
+		      var keys= ownKeys(events);
+		      var len= keys.length;
+		      var event;
+		      var isSingleReducer= typeof reducers==='function';
+
+		      for(var i=0; i<len; i++){
+		        event= keys[i];
+		        observer.subscribe(
+		            event,
+		            events[event] || event,
+		            isSingleReducer ? reducers : reducers && reducers[event]
+		        );
+		      }
+		    }
+
+		    isArray(events)?
+		        listen(toObject(events)) :
+		        (typeof events==='string'? listen(toObject(events.split(/\s+/))): listen(events));
+
+		    return this;
+		  };
+
+		  EventEmitter.prototype.stopListeningTo = function (target, event) {
+		    var observers = this._observers;
+
+		    if(!observers){
+		      return false;
+		    }
+
+		    var i = observers.length;
+		    var observer;
+		    var matched= false;
+
+		    if(target && typeof target!=='object'){
+		      throw TypeError('target should be an object');
+		    }
+
+		    while (i-- > 0) {
+		      observer = observers[i];
+		      if (!target || observer._target === target) {
+		        observer.unsubscribe(event);
+		        matched= true;
+		      }
+		    }
+
+		    return matched;
+		  };
+
+		  // By default EventEmitters will print a warning if more than
+		  // 10 listeners are added to it. This is a useful default which
+		  // helps finding memory leaks.
+		  //
+		  // Obviously not all Emitters should be limited to 10. This function allows
+		  // that to be increased. Set to zero for unlimited.
+
+		  EventEmitter.prototype.delimiter = '.';
+
+		  EventEmitter.prototype.setMaxListeners = function(n) {
+		    if (n !== undefined$1) {
+		      this._maxListeners = n;
+		      if (!this._conf) { this._conf = {}; }
+		      this._conf.maxListeners = n;
+		    }
+		  };
+
+		  EventEmitter.prototype.getMaxListeners = function() {
+		    return this._maxListeners;
+		  };
+
+		  EventEmitter.prototype.event = '';
+
+		  EventEmitter.prototype.once = function(event, fn, options) {
+		    return this._once(event, fn, false, options);
+		  };
+
+		  EventEmitter.prototype.prependOnceListener = function(event, fn, options) {
+		    return this._once(event, fn, true, options);
+		  };
+
+		  EventEmitter.prototype._once = function(event, fn, prepend, options) {
+		    return this._many(event, 1, fn, prepend, options);
+		  };
+
+		  EventEmitter.prototype.many = function(event, ttl, fn, options) {
+		    return this._many(event, ttl, fn, false, options);
+		  };
+
+		  EventEmitter.prototype.prependMany = function(event, ttl, fn, options) {
+		    return this._many(event, ttl, fn, true, options);
+		  };
+
+		  EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) {
+		    var self = this;
+
+		    if (typeof fn !== 'function') {
+		      throw new Error('many only accepts instances of Function');
+		    }
+
+		    function listener() {
+		      if (--ttl === 0) {
+		        self.off(event, listener);
+		      }
+		      return fn.apply(this, arguments);
+		    }
+
+		    listener._origin = fn;
+
+		    return this._on(event, listener, prepend, options);
+		  };
+
+		  EventEmitter.prototype.emit = function() {
+		    var arguments$1 = arguments;
+
+		    if (!this._events && !this._all) {
+		      return false;
+		    }
+
+		    this._events || init.call(this);
+
+		    var type = arguments[0], ns, wildcard= this.wildcard;
+		    var args,l,i,j, containsSymbol;
+
+		    if (type === 'newListener' && !this._newListener) {
+		      if (!this._events.newListener) {
+		        return false;
+		      }
+		    }
+
+		    if (wildcard) {
+		      ns= type;
+		      if(type!=='newListener' && type!=='removeListener'){
+		        if (typeof type === 'object') {
+		          l = type.length;
+		          if (symbolsSupported) {
+		            for (i = 0; i < l; i++) {
+		              if (typeof type[i] === 'symbol') {
+		                containsSymbol = true;
+		                break;
+		              }
+		            }
+		          }
+		          if (!containsSymbol) {
+		            type = type.join(this.delimiter);
+		          }
+		        }
+		      }
+		    }
+
+		    var al = arguments.length;
+		    var handler;
+
+		    if (this._all && this._all.length) {
+		      handler = this._all.slice();
+
+		      for (i = 0, l = handler.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          handler[i].call(this, type);
+		          break;
+		        case 2:
+		          handler[i].call(this, type, arguments$1[1]);
+		          break;
+		        case 3:
+		          handler[i].call(this, type, arguments$1[1], arguments$1[2]);
+		          break;
+		        default:
+		          handler[i].apply(this, arguments$1);
+		        }
+		      }
+		    }
+
+		    if (wildcard) {
+		      handler = [];
+		      searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l);
+		    } else {
+		      handler = this._events[type];
+		      if (typeof handler === 'function') {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          handler.call(this);
+		          break;
+		        case 2:
+		          handler.call(this, arguments[1]);
+		          break;
+		        case 3:
+		          handler.call(this, arguments[1], arguments[2]);
+		          break;
+		        default:
+		          args = new Array(al - 1);
+		          for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		          handler.apply(this, args);
+		        }
+		        return true;
+		      } else if (handler) {
+		        // need to make copy of handlers because list can change in the middle
+		        // of emit call
+		        handler = handler.slice();
+		      }
+		    }
+
+		    if (handler && handler.length) {
+		      if (al > 3) {
+		        args = new Array(al - 1);
+		        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		      }
+		      for (i = 0, l = handler.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          handler[i].call(this);
+		          break;
+		        case 2:
+		          handler[i].call(this, arguments$1[1]);
+		          break;
+		        case 3:
+		          handler[i].call(this, arguments$1[1], arguments$1[2]);
+		          break;
+		        default:
+		          handler[i].apply(this, args);
+		        }
+		      }
+		      return true;
+		    } else if (!this.ignoreErrors && !this._all && type === 'error') {
+		      if (arguments[1] instanceof Error) {
+		        throw arguments[1]; // Unhandled 'error' event
+		      } else {
+		        throw new Error("Uncaught, unspecified 'error' event.");
+		      }
+		    }
+
+		    return !!this._all;
+		  };
+
+		  EventEmitter.prototype.emitAsync = function() {
+		    var arguments$1 = arguments;
+
+		    if (!this._events && !this._all) {
+		      return false;
+		    }
+
+		    this._events || init.call(this);
+
+		    var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol;
+		    var args,l,i,j;
+
+		    if (type === 'newListener' && !this._newListener) {
+		        if (!this._events.newListener) { return Promise.resolve([false]); }
+		    }
+
+		    if (wildcard) {
+		      ns= type;
+		      if(type!=='newListener' && type!=='removeListener'){
+		        if (typeof type === 'object') {
+		          l = type.length;
+		          if (symbolsSupported) {
+		            for (i = 0; i < l; i++) {
+		              if (typeof type[i] === 'symbol') {
+		                containsSymbol = true;
+		                break;
+		              }
+		            }
+		          }
+		          if (!containsSymbol) {
+		            type = type.join(this.delimiter);
+		          }
+		        }
+		      }
+		    }
+
+		    var promises= [];
+
+		    var al = arguments.length;
+		    var handler;
+
+		    if (this._all) {
+		      for (i = 0, l = this._all.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          promises.push(this._all[i].call(this, type));
+		          break;
+		        case 2:
+		          promises.push(this._all[i].call(this, type, arguments$1[1]));
+		          break;
+		        case 3:
+		          promises.push(this._all[i].call(this, type, arguments$1[1], arguments$1[2]));
+		          break;
+		        default:
+		          promises.push(this._all[i].apply(this, arguments$1));
+		        }
+		      }
+		    }
+
+		    if (wildcard) {
+		      handler = [];
+		      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
+		    } else {
+		      handler = this._events[type];
+		    }
+
+		    if (typeof handler === 'function') {
+		      this.event = type;
+		      switch (al) {
+		      case 1:
+		        promises.push(handler.call(this));
+		        break;
+		      case 2:
+		        promises.push(handler.call(this, arguments[1]));
+		        break;
+		      case 3:
+		        promises.push(handler.call(this, arguments[1], arguments[2]));
+		        break;
+		      default:
+		        args = new Array(al - 1);
+		        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		        promises.push(handler.apply(this, args));
+		      }
+		    } else if (handler && handler.length) {
+		      handler = handler.slice();
+		      if (al > 3) {
+		        args = new Array(al - 1);
+		        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		      }
+		      for (i = 0, l = handler.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          promises.push(handler[i].call(this));
+		          break;
+		        case 2:
+		          promises.push(handler[i].call(this, arguments$1[1]));
+		          break;
+		        case 3:
+		          promises.push(handler[i].call(this, arguments$1[1], arguments$1[2]));
+		          break;
+		        default:
+		          promises.push(handler[i].apply(this, args));
+		        }
+		      }
+		    } else if (!this.ignoreErrors && !this._all && type === 'error') {
+		      if (arguments[1] instanceof Error) {
+		        return Promise.reject(arguments[1]); // Unhandled 'error' event
+		      } else {
+		        return Promise.reject("Uncaught, unspecified 'error' event.");
+		      }
+		    }
+
+		    return Promise.all(promises);
+		  };
+
+		  EventEmitter.prototype.on = function(type, listener, options) {
+		    return this._on(type, listener, false, options);
+		  };
+
+		  EventEmitter.prototype.prependListener = function(type, listener, options) {
+		    return this._on(type, listener, true, options);
+		  };
+
+		  EventEmitter.prototype.onAny = function(fn) {
+		    return this._onAny(fn, false);
+		  };
+
+		  EventEmitter.prototype.prependAny = function(fn) {
+		    return this._onAny(fn, true);
+		  };
+
+		  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
+
+		  EventEmitter.prototype._onAny = function(fn, prepend){
+		    if (typeof fn !== 'function') {
+		      throw new Error('onAny only accepts instances of Function');
+		    }
+
+		    if (!this._all) {
+		      this._all = [];
+		    }
+
+		    // Add the function to the event listener collection.
+		    if(prepend){
+		      this._all.unshift(fn);
+		    }else {
+		      this._all.push(fn);
+		    }
+
+		    return this;
+		  };
+
+		  EventEmitter.prototype._on = function(type, listener, prepend, options) {
+		    if (typeof type === 'function') {
+		      this._onAny(type, listener);
+		      return this;
+		    }
+
+		    if (typeof listener !== 'function') {
+		      throw new Error('on only accepts instances of Function');
+		    }
+		    this._events || init.call(this);
+
+		    var returnValue= this, temp;
+
+		    if (options !== undefined$1) {
+		      temp = setupListener.call(this, type, listener, options);
+		      listener = temp[0];
+		      returnValue = temp[1];
+		    }
+
+		    // To avoid recursion in the case that type == "newListeners"! Before
+		    // adding it to the listeners, first emit "newListeners".
+		    if (this._newListener) {
+		      this.emit('newListener', type, listener);
+		    }
+
+		    if (this.wildcard) {
+		      growListenerTree.call(this, type, listener, prepend);
+		      return returnValue;
+		    }
+
+		    if (!this._events[type]) {
+		      // Optimize the case of one listener. Don't need the extra array object.
+		      this._events[type] = listener;
+		    } else {
+		      if (typeof this._events[type] === 'function') {
+		        // Change to array.
+		        this._events[type] = [this._events[type]];
+		      }
+
+		      // If we've already got an array, just add
+		      if(prepend){
+		        this._events[type].unshift(listener);
+		      }else {
+		        this._events[type].push(listener);
+		      }
+
+		      // Check for listener leak
+		      if (
+		        !this._events[type].warned &&
+		        this._maxListeners > 0 &&
+		        this._events[type].length > this._maxListeners
+		      ) {
+		        this._events[type].warned = true;
+		        logPossibleMemoryLeak.call(this, this._events[type].length, type);
+		      }
+		    }
+
+		    return returnValue;
+		  };
+
+		  EventEmitter.prototype.off = function(type, listener) {
+		    if (typeof listener !== 'function') {
+		      throw new Error('removeListener only takes instances of Function');
+		    }
+
+		    var handlers,leafs=[];
+
+		    if(this.wildcard) {
+		      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+		      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+		      if(!leafs) { return this; }
+		    } else {
+		      // does not use listeners(), so no side effect of creating _events[type]
+		      if (!this._events[type]) { return this; }
+		      handlers = this._events[type];
+		      leafs.push({_listeners:handlers});
+		    }
+
+		    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+		      var leaf = leafs[iLeaf];
+		      handlers = leaf._listeners;
+		      if (isArray(handlers)) {
+
+		        var position = -1;
+
+		        for (var i = 0, length = handlers.length; i < length; i++) {
+		          if (handlers[i] === listener ||
+		            (handlers[i].listener && handlers[i].listener === listener) ||
+		            (handlers[i]._origin && handlers[i]._origin === listener)) {
+		            position = i;
+		            break;
+		          }
+		        }
+
+		        if (position < 0) {
+		          continue;
+		        }
+
+		        if(this.wildcard) {
+		          leaf._listeners.splice(position, 1);
+		        }
+		        else {
+		          this._events[type].splice(position, 1);
+		        }
+
+		        if (handlers.length === 0) {
+		          if(this.wildcard) {
+		            delete leaf._listeners;
+		          }
+		          else {
+		            delete this._events[type];
+		          }
+		        }
+		        if (this._removeListener)
+		          { this.emit("removeListener", type, listener); }
+
+		        return this;
+		      }
+		      else if (handlers === listener ||
+		        (handlers.listener && handlers.listener === listener) ||
+		        (handlers._origin && handlers._origin === listener)) {
+		        if(this.wildcard) {
+		          delete leaf._listeners;
+		        }
+		        else {
+		          delete this._events[type];
+		        }
+		        if (this._removeListener)
+		          { this.emit("removeListener", type, listener); }
+		      }
+		    }
+
+		    this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
+
+		    return this;
+		  };
+
+		  EventEmitter.prototype.offAny = function(fn) {
+		    var i = 0, l = 0, fns;
+		    if (fn && this._all && this._all.length > 0) {
+		      fns = this._all;
+		      for(i = 0, l = fns.length; i < l; i++) {
+		        if(fn === fns[i]) {
+		          fns.splice(i, 1);
+		          if (this._removeListener)
+		            { this.emit("removeListenerAny", fn); }
+		          return this;
+		        }
+		      }
+		    } else {
+		      fns = this._all;
+		      if (this._removeListener) {
+		        for(i = 0, l = fns.length; i < l; i++)
+		          { this.emit("removeListenerAny", fns[i]); }
+		      }
+		      this._all = [];
+		    }
+		    return this;
+		  };
+
+		  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
+
+		  EventEmitter.prototype.removeAllListeners = function (type) {
+		    if (type === undefined$1) {
+		      !this._events || init.call(this);
+		      return this;
+		    }
+
+		    if (this.wildcard) {
+		      var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i;
+		      if (!leafs) { return this; }
+		      for (i = 0; i < leafs.length; i++) {
+		        leaf = leafs[i];
+		        leaf._listeners = null;
+		      }
+		      this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
+		    } else if (this._events) {
+		      this._events[type] = null;
+		    }
+		    return this;
+		  };
+
+		  EventEmitter.prototype.listeners = function (type) {
+		    var _events = this._events;
+		    var keys, listeners, allListeners;
+		    var i;
+		    var listenerTree;
+
+		    if (type === undefined$1) {
+		      if (this.wildcard) {
+		        throw Error('event name required for wildcard emitter');
+		      }
+
+		      if (!_events) {
+		        return [];
+		      }
+
+		      keys = ownKeys(_events);
+		      i = keys.length;
+		      allListeners = [];
+		      while (i-- > 0) {
+		        listeners = _events[keys[i]];
+		        if (typeof listeners === 'function') {
+		          allListeners.push(listeners);
+		        } else {
+		          allListeners.push.apply(allListeners, listeners);
+		        }
+		      }
+		      return allListeners;
+		    } else {
+		      if (this.wildcard) {
+		        listenerTree= this.listenerTree;
+		        if(!listenerTree) { return []; }
+		        var handlers = [];
+		        var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+		        searchListenerTree.call(this, handlers, ns, listenerTree, 0);
+		        return handlers;
+		      }
+
+		      if (!_events) {
+		        return [];
+		      }
+
+		      listeners = _events[type];
+
+		      if (!listeners) {
+		        return [];
+		      }
+		      return typeof listeners === 'function' ? [listeners] : listeners;
+		    }
+		  };
+
+		  EventEmitter.prototype.eventNames = function(nsAsArray){
+		    var _events= this._events;
+		    return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []);
+		  };
+
+		  EventEmitter.prototype.listenerCount = function(type) {
+		    return this.listeners(type).length;
+		  };
+
+		  EventEmitter.prototype.hasListeners = function (type) {
+		    if (this.wildcard) {
+		      var handlers = [];
+		      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+		      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
+		      return handlers.length > 0;
+		    }
+
+		    var _events = this._events;
+		    var _all = this._all;
+
+		    return !!(_all && _all.length || _events && (type === undefined$1 ? ownKeys(_events).length : _events[type]));
+		  };
+
+		  EventEmitter.prototype.listenersAny = function() {
+
+		    if(this._all) {
+		      return this._all;
+		    }
+		    else {
+		      return [];
+		    }
+
+		  };
+
+		  EventEmitter.prototype.waitFor = function (event, options) {
+		    var self = this;
+		    var type = typeof options;
+		    if (type === 'number') {
+		      options = {timeout: options};
+		    } else if (type === 'function') {
+		      options = {filter: options};
+		    }
+
+		    options= resolveOptions(options, {
+		      timeout: 0,
+		      filter: undefined$1,
+		      handleError: false,
+		      Promise: Promise,
+		      overload: false
+		    }, {
+		      filter: functionReducer,
+		      Promise: constructorReducer
+		    });
+
+		    return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) {
+		      function listener() {
+		        var filter= options.filter;
+		        if (filter && !filter.apply(self, arguments)) {
+		          return;
+		        }
+		        self.off(event, listener);
+		        if (options.handleError) {
+		          var err = arguments[0];
+		          err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1));
+		        } else {
+		          resolve(toArray.apply(null, arguments));
+		        }
+		      }
+
+		      onCancel(function(){
+		        self.off(event, listener);
+		      });
+
+		      self._on(event, listener, false);
+		    }, {
+		      timeout: options.timeout,
+		      overload: options.overload
+		    })
+		  };
+
+		  function once(emitter, name, options) {
+		    options= resolveOptions(options, {
+		      Promise: Promise,
+		      timeout: 0,
+		      overload: false
+		    }, {
+		      Promise: constructorReducer
+		    });
+
+		    var _Promise= options.Promise;
+
+		    return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){
+		      var handler;
+		      if (typeof emitter.addEventListener === 'function') {
+		        handler=  function () {
+		          resolve(toArray.apply(null, arguments));
+		        };
+
+		        onCancel(function(){
+		          emitter.removeEventListener(name, handler);
+		        });
+
+		        emitter.addEventListener(
+		            name,
+		            handler,
+		            {once: true}
+		        );
+		        return;
+		      }
+
+		      var eventListener = function(){
+		        errorListener && emitter.removeListener('error', errorListener);
+		        resolve(toArray.apply(null, arguments));
+		      };
+
+		      var errorListener;
+
+		      if (name !== 'error') {
+		        errorListener = function (err){
+		          emitter.removeListener(name, eventListener);
+		          reject(err);
+		        };
+
+		        emitter.once('error', errorListener);
+		      }
+
+		      onCancel(function(){
+		        errorListener && emitter.removeListener('error', errorListener);
+		        emitter.removeListener(name, eventListener);
+		      });
+
+		      emitter.once(name, eventListener);
+		    }, {
+		      timeout: options.timeout,
+		      overload: options.overload
+		    });
+		  }
+
+		  var prototype= EventEmitter.prototype;
+
+		  Object.defineProperties(EventEmitter, {
+		    defaultMaxListeners: {
+		      get: function () {
+		        return prototype._maxListeners;
+		      },
+		      set: function (n) {
+		        if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) {
+		          throw TypeError('n must be a non-negative number')
+		        }
+		        prototype._maxListeners = n;
+		      },
+		      enumerable: true
+		    },
+		    once: {
+		      value: once,
+		      writable: true,
+		      configurable: true
+		    }
+		  });
+
+		  Object.defineProperties(prototype, {
+		      _maxListeners: {
+		          value: defaultMaxListeners,
+		          writable: true,
+		          configurable: true
+		      },
+		      _observers: {value: null, writable: true, configurable: true}
+		  });
+
+		  if (typeof undefined$1 === 'function' && undefined$1.amd) {
+		     // AMD. Register as an anonymous module.
+		    undefined$1(function() {
+		      return EventEmitter;
+		    });
+		  } else {
+		    // CommonJS
+		    module.exports = EventEmitter;
+		  }
+		}(); 
+	} (eventemitter2, eventemitter2.exports));
+	return eventemitter2.exports;
+}
+
+var eventemitter2Exports = requireEventemitter2();
 var EventEmitter2 = /*@__PURE__*/getDefaultExportFromCjs(eventemitter2Exports);
 
 /**
diff --git a/build/ros3d.esm.js b/build/ros3d.esm.js
index 23e4c21c..af7025c1 100644
--- a/build/ros3d.esm.js
+++ b/build/ros3d.esm.js
@@ -53239,1633 +53239,1640 @@ var eventemitter2 = {exports: {}};
  */
 eventemitter2.exports;
 
-(function (module, exports) {
+var hasRequiredEventemitter2;
+
+function requireEventemitter2 () {
+	if (hasRequiredEventemitter2) { return eventemitter2.exports; }
+	hasRequiredEventemitter2 = 1;
+	(function (module, exports) {
 !function(undefined$1) {
-	  var hasOwnProperty= Object.hasOwnProperty;
-	  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
-	    return Object.prototype.toString.call(obj) === "[object Array]";
-	  };
-	  var defaultMaxListeners = 10;
-	  var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function';
-	  var symbolsSupported= typeof Symbol==='function';
-	  var reflectSupported= typeof Reflect === 'object';
-	  var setImmediateSupported= typeof setImmediate === 'function';
-	  var _setImmediate= setImmediateSupported ? setImmediate : setTimeout;
-	  var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){
-	    var arr= Object.getOwnPropertyNames(obj);
-	    arr.push.apply(arr, Object.getOwnPropertySymbols(obj));
-	    return arr;
-	  }) : Object.keys;
-
-	  function init() {
-	    this._events = {};
-	    if (this._conf) {
-	      configure.call(this, this._conf);
-	    }
-	  }
-
-	  function configure(conf) {
-	    if (conf) {
-	      this._conf = conf;
-
-	      conf.delimiter && (this.delimiter = conf.delimiter);
-
-	      if(conf.maxListeners!==undefined$1){
-	          this._maxListeners= conf.maxListeners;
-	      }
-
-	      conf.wildcard && (this.wildcard = conf.wildcard);
-	      conf.newListener && (this._newListener = conf.newListener);
-	      conf.removeListener && (this._removeListener = conf.removeListener);
-	      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
-	      conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors);
-
-	      if (this.wildcard) {
-	        this.listenerTree = {};
-	      }
-	    }
-	  }
-
-	  function logPossibleMemoryLeak(count, eventName) {
-	    var errorMsg = '(node) warning: possible EventEmitter memory ' +
-	        'leak detected. ' + count + ' listeners added. ' +
-	        'Use emitter.setMaxListeners() to increase limit.';
-
-	    if(this.verboseMemoryLeak){
-	      errorMsg += ' Event name: ' + eventName + '.';
-	    }
-
-	    if(typeof process !== 'undefined' && process.emitWarning){
-	      var e = new Error(errorMsg);
-	      e.name = 'MaxListenersExceededWarning';
-	      e.emitter = this;
-	      e.count = count;
-	      process.emitWarning(e);
-	    } else {
-	      console.error(errorMsg);
-
-	      if (console.trace){
-	        console.trace();
-	      }
-	    }
-	  }
-
-	  var toArray = function (a, b, c) {
-	    var arguments$1 = arguments;
-
-	    var n = arguments.length;
-	    switch (n) {
-	      case 0:
-	        return [];
-	      case 1:
-	        return [a];
-	      case 2:
-	        return [a, b];
-	      case 3:
-	        return [a, b, c];
-	      default:
-	        var arr = new Array(n);
-	        while (n--) {
-	          arr[n] = arguments$1[n];
-	        }
-	        return arr;
-	    }
-	  };
-
-	  function toObject(keys, values) {
-	    var obj = {};
-	    var key;
-	    var len = keys.length;
-	    var valuesCount = values ? value.length : 0;
-	    for (var i = 0; i < len; i++) {
-	      key = keys[i];
-	      obj[key] = i < valuesCount ? values[i] : undefined$1;
-	    }
-	    return obj;
-	  }
-
-	  function TargetObserver(emitter, target, options) {
-	    this._emitter = emitter;
-	    this._target = target;
-	    this._listeners = {};
-	    this._listenersCount = 0;
-
-	    var on, off;
-
-	    if (options.on || options.off) {
-	      on = options.on;
-	      off = options.off;
-	    }
-
-	    if (target.addEventListener) {
-	      on = target.addEventListener;
-	      off = target.removeEventListener;
-	    } else if (target.addListener) {
-	      on = target.addListener;
-	      off = target.removeListener;
-	    } else if (target.on) {
-	      on = target.on;
-	      off = target.off;
-	    }
-
-	    if (!on && !off) {
-	      throw Error('target does not implement any known event API');
-	    }
-
-	    if (typeof on !== 'function') {
-	      throw TypeError('on method must be a function');
-	    }
-
-	    if (typeof off !== 'function') {
-	      throw TypeError('off method must be a function');
-	    }
-
-	    this._on = on;
-	    this._off = off;
-
-	    var _observers= emitter._observers;
-	    if(_observers){
-	      _observers.push(this);
-	    }else {
-	      emitter._observers= [this];
-	    }
-	  }
-
-	  Object.assign(TargetObserver.prototype, {
-	    subscribe: function(event, localEvent, reducer){
-	      var observer= this;
-	      var target= this._target;
-	      var emitter= this._emitter;
-	      var listeners= this._listeners;
-	      var handler= function(){
-	        var args= toArray.apply(null, arguments);
-	        var eventObj= {
-	          data: args,
-	          name: localEvent,
-	          original: event
-	        };
-	        if(reducer){
-	          var result= reducer.call(target, eventObj);
-	          if(result!==false){
-	            emitter.emit.apply(emitter, [eventObj.name].concat(args));
-	          }
-	          return;
-	        }
-	        emitter.emit.apply(emitter, [localEvent].concat(args));
-	      };
-
-
-	      if(listeners[event]){
-	        throw Error('Event \'' + event + '\' is already listening');
-	      }
-
-	      this._listenersCount++;
-
-	      if(emitter._newListener && emitter._removeListener && !observer._onNewListener){
-
-	        this._onNewListener = function (_event) {
-	          if (_event === localEvent && listeners[event] === null) {
-	            listeners[event] = handler;
-	            observer._on.call(target, event, handler);
-	          }
-	        };
-
-	        emitter.on('newListener', this._onNewListener);
-
-	        this._onRemoveListener= function(_event){
-	          if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){
-	            listeners[event]= null;
-	            observer._off.call(target, event, handler);
-	          }
-	        };
-
-	        listeners[event]= null;
-
-	        emitter.on('removeListener', this._onRemoveListener);
-	      }else {
-	        listeners[event]= handler;
-	        observer._on.call(target, event, handler);
-	      }
-	    },
-
-	    unsubscribe: function(event){
-	      var observer= this;
-	      var listeners= this._listeners;
-	      var emitter= this._emitter;
-	      var handler;
-	      var events;
-	      var off= this._off;
-	      var target= this._target;
-	      var i;
-
-	      if(event && typeof event!=='string'){
-	        throw TypeError('event must be a string');
-	      }
-
-	      function clearRefs(){
-	        if(observer._onNewListener){
-	          emitter.off('newListener', observer._onNewListener);
-	          emitter.off('removeListener', observer._onRemoveListener);
-	          observer._onNewListener= null;
-	          observer._onRemoveListener= null;
-	        }
-	        var index= findTargetIndex.call(emitter, observer);
-	        emitter._observers.splice(index, 1);
-	      }
-
-	      if(event){
-	        handler= listeners[event];
-	        if(!handler) { return; }
-	        off.call(target, event, handler);
-	        delete listeners[event];
-	        if(!--this._listenersCount){
-	          clearRefs();
-	        }
-	      }else {
-	        events= ownKeys(listeners);
-	        i= events.length;
-	        while(i-->0){
-	          event= events[i];
-	          off.call(target, event, listeners[event]);
-	        }
-	        this._listeners= {};
-	        this._listenersCount= 0;
-	        clearRefs();
-	      }
-	    }
-	  });
-
-	  function resolveOptions(options, schema, reducers, allowUnknown) {
-	    var computedOptions = Object.assign({}, schema);
-
-	    if (!options) { return computedOptions; }
-
-	    if (typeof options !== 'object') {
-	      throw TypeError('options must be an object')
-	    }
-
-	    var keys = Object.keys(options);
-	    var length = keys.length;
-	    var option, value;
-	    var reducer;
-
-	    function reject(reason) {
-	      throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : ''))
-	    }
-
-	    for (var i = 0; i < length; i++) {
-	      option = keys[i];
-	      if (!allowUnknown && !hasOwnProperty.call(schema, option)) {
-	        throw Error('Unknown "' + option + '" option');
-	      }
-	      value = options[option];
-	      if (value !== undefined$1) {
-	        reducer = reducers[option];
-	        computedOptions[option] = reducer ? reducer(value, reject) : value;
-	      }
-	    }
-	    return computedOptions;
-	  }
-
-	  function constructorReducer(value, reject) {
-	    if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) {
-	      reject('value must be a constructor');
-	    }
-	    return value;
-	  }
-
-	  function makeTypeReducer(types) {
-	    var message= 'value must be type of ' + types.join('|');
-	    var len= types.length;
-	    var firstType= types[0];
-	    var secondType= types[1];
-
-	    if (len === 1) {
-	      return function (v, reject) {
-	        if (typeof v === firstType) {
-	          return v;
-	        }
-	        reject(message);
-	      }
-	    }
-
-	    if (len === 2) {
-	      return function (v, reject) {
-	        var kind= typeof v;
-	        if (kind === firstType || kind === secondType) { return v; }
-	        reject(message);
-	      }
-	    }
-
-	    return function (v, reject) {
-	      var kind = typeof v;
-	      var i = len;
-	      while (i-- > 0) {
-	        if (kind === types[i]) { return v; }
-	      }
-	      reject(message);
-	    }
-	  }
-
-	  var functionReducer= makeTypeReducer(['function']);
-
-	  var objectFunctionReducer= makeTypeReducer(['object', 'function']);
-
-	  function makeCancelablePromise(Promise, executor, options) {
-	    var isCancelable;
-	    var callbacks;
-	    var timer= 0;
-	    var subscriptionClosed;
-
-	    var promise = new Promise(function (resolve, reject, onCancel) {
-	      options= resolveOptions(options, {
-	        timeout: 0,
-	        overload: false
-	      }, {
-	        timeout: function(value, reject){
-	          value*= 1;
-	          if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) {
-	            reject('timeout must be a positive number');
-	          }
-	          return value;
-	        }
-	      });
-
-	      isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function';
-
-	      function cleanup() {
-	        if (callbacks) {
-	          callbacks = null;
-	        }
-	        if (timer) {
-	          clearTimeout(timer);
-	          timer = 0;
-	        }
-	      }
-
-	      var _resolve= function(value){
-	        cleanup();
-	        resolve(value);
-	      };
-
-	      var _reject= function(err){
-	        cleanup();
-	        reject(err);
-	      };
-
-	      if (isCancelable) {
-	        executor(_resolve, _reject, onCancel);
-	      } else {
-	        callbacks = [function(reason){
-	          _reject(reason || Error('canceled'));
-	        }];
-	        executor(_resolve, _reject, function (cb) {
-	          if (subscriptionClosed) {
-	            throw Error('Unable to subscribe on cancel event asynchronously')
-	          }
-	          if (typeof cb !== 'function') {
-	            throw TypeError('onCancel callback must be a function');
-	          }
-	          callbacks.push(cb);
-	        });
-	        subscriptionClosed= true;
-	      }
-
-	      if (options.timeout > 0) {
-	        timer= setTimeout(function(){
-	          var reason= Error('timeout');
-	          reason.code = 'ETIMEDOUT';
-	          timer= 0;
-	          promise.cancel(reason);
-	          reject(reason);
-	        }, options.timeout);
-	      }
-	    });
-
-	    if (!isCancelable) {
-	      promise.cancel = function (reason) {
-	        if (!callbacks) {
-	          return;
-	        }
-	        var length = callbacks.length;
-	        for (var i = 1; i < length; i++) {
-	          callbacks[i](reason);
-	        }
-	        // internal callback to reject the promise
-	        callbacks[0](reason);
-	        callbacks = null;
-	      };
-	    }
-
-	    return promise;
-	  }
-
-	  function findTargetIndex(observer) {
-	    var observers = this._observers;
-	    if(!observers){
-	      return -1;
-	    }
-	    var len = observers.length;
-	    for (var i = 0; i < len; i++) {
-	      if (observers[i]._target === observer) { return i; }
-	    }
-	    return -1;
-	  }
-
-	  // Attention, function return type now is array, always !
-	  // It has zero elements if no any matches found and one or more
-	  // elements (leafs) if there are matches
-	  //
-	  function searchListenerTree(handlers, type, tree, i, typeLength) {
-	    if (!tree) {
-	      return null;
-	    }
-
-	    if (i === 0) {
-	      var kind = typeof type;
-	      if (kind === 'string') {
-	        var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length;
-	        if ((n = type.indexOf(delimiter)) !== -1) {
-	          ns = new Array(5);
-	          do {
-	            ns[l++] = type.slice(j, n);
-	            j = n + dl;
-	          } while ((n = type.indexOf(delimiter, j)) !== -1);
-
-	          ns[l++] = type.slice(j);
-	          type = ns;
-	          typeLength = l;
-	        } else {
-	          type = [type];
-	          typeLength = 1;
-	        }
-	      } else if (kind === 'object') {
-	        typeLength = type.length;
-	      } else {
-	        type = [type];
-	        typeLength = 1;
-	      }
-	    }
-
-	    var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
-	        nextType = type[i + 1], branches, _listeners;
-
-	    if (i === typeLength) {
-	      //
-	      // If at the end of the event(s) list and the tree has listeners
-	      // invoke those listeners.
-	      //
-
-	      if(tree._listeners) {
-	        if (typeof tree._listeners === 'function') {
-	          handlers && handlers.push(tree._listeners);
-	          listeners = [tree];
-	        } else {
-	          handlers && handlers.push.apply(handlers, tree._listeners);
-	          listeners = [tree];
-	        }
-	      }
-	    } else {
-
-	      if (currentType === '*') {
-	        //
-	        // If the event emitted is '*' at this part
-	        // or there is a concrete match at this patch
-	        //
-	        branches = ownKeys(tree);
-	        n = branches.length;
-	        while (n-- > 0) {
-	          branch = branches[n];
-	          if (branch !== '_listeners') {
-	            _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
-	            if (_listeners) {
-	              if (listeners) {
-	                listeners.push.apply(listeners, _listeners);
-	              } else {
-	                listeners = _listeners;
-	              }
-	            }
-	          }
-	        }
-	        return listeners;
-	      } else if (currentType === '**') {
-	        endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
-	        if (endReached && tree._listeners) {
-	          // The next element has a _listeners, add it to the handlers.
-	          listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
-	        }
-
-	        branches = ownKeys(tree);
-	        n = branches.length;
-	        while (n-- > 0) {
-	          branch = branches[n];
-	          if (branch !== '_listeners') {
-	            if (branch === '*' || branch === '**') {
-	              if (tree[branch]._listeners && !endReached) {
-	                _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
-	                if (_listeners) {
-	                  if (listeners) {
-	                    listeners.push.apply(listeners, _listeners);
-	                  } else {
-	                    listeners = _listeners;
-	                  }
-	                }
-	              }
-	              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
-	            } else if (branch === nextType) {
-	              _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
-	            } else {
-	              // No match on this one, shift into the tree but not in the type array.
-	              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
-	            }
-	            if (_listeners) {
-	              if (listeners) {
-	                listeners.push.apply(listeners, _listeners);
-	              } else {
-	                listeners = _listeners;
-	              }
-	            }
-	          }
-	        }
-	        return listeners;
-	      } else if (tree[currentType]) {
-	        listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
-	      }
-	    }
-
-	      xTree = tree['*'];
-	    if (xTree) {
-	      //
-	      // If the listener tree will allow any match for this part,
-	      // then recursively explore all branches of the tree
-	      //
-	      searchListenerTree(handlers, type, xTree, i + 1, typeLength);
-	    }
-
-	    xxTree = tree['**'];
-	    if (xxTree) {
-	      if (i < typeLength) {
-	        if (xxTree._listeners) {
-	          // If we have a listener on a '**', it will catch all, so add its handler.
-	          searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
-	        }
-
-	        // Build arrays of matching next branches and others.
-	        branches= ownKeys(xxTree);
-	        n= branches.length;
-	        while(n-->0){
-	          branch= branches[n];
-	          if (branch !== '_listeners') {
-	            if (branch === nextType) {
-	              // We know the next element will match, so jump twice.
-	              searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength);
-	            } else if (branch === currentType) {
-	              // Current node matches, move into the tree.
-	              searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength);
-	            } else {
-	              isolatedBranch = {};
-	              isolatedBranch[branch] = xxTree[branch];
-	              searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength);
-	            }
-	          }
-	        }
-	      } else if (xxTree._listeners) {
-	        // We have reached the end and still on a '**'
-	        searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
-	      } else if (xxTree['*'] && xxTree['*']._listeners) {
-	        searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength);
-	      }
-	    }
-
-	    return listeners;
-	  }
-
-	  function growListenerTree(type, listener, prepend) {
-	    var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns;
-
-	    if(typeof type==='string') {
-	      if ((i = type.indexOf(delimiter)) !== -1) {
-	        ns = new Array(5);
-	        do {
-	          ns[len++] = type.slice(j, i);
-	          j = i + dl;
-	        } while ((i = type.indexOf(delimiter, j)) !== -1);
-
-	        ns[len++] = type.slice(j);
-	      }else {
-	        ns= [type];
-	        len= 1;
-	      }
-	    }else {
-	      ns= type;
-	      len= type.length;
-	    }
-
-	    //
-	    // Looks for two consecutive '**', if so, don't add the event at all.
-	    //
-	    if (len > 1) {
-	      for (i = 0; i + 1 < len; i++) {
-	        if (ns[i] === '**' && ns[i + 1] === '**') {
-	          return;
-	        }
-	      }
-	    }
-
-
-
-	    var tree = this.listenerTree, name;
-
-	    for (i = 0; i < len; i++) {
-	      name = ns[i];
-
-	      tree = tree[name] || (tree[name] = {});
-
-	      if (i === len - 1) {
-	        if (!tree._listeners) {
-	          tree._listeners = listener;
-	        } else {
-	          if (typeof tree._listeners === 'function') {
-	            tree._listeners = [tree._listeners];
-	          }
-
-	          if (prepend) {
-	            tree._listeners.unshift(listener);
-	          } else {
-	            tree._listeners.push(listener);
-	          }
-
-	          if (
-	              !tree._listeners.warned &&
-	              this._maxListeners > 0 &&
-	              tree._listeners.length > this._maxListeners
-	          ) {
-	            tree._listeners.warned = true;
-	            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
-	          }
-	        }
-	        return true;
-	      }
-	    }
-
-	    return true;
-	  }
-
-	  function collectTreeEvents(tree, events, root, asArray){
-	     var branches= ownKeys(tree);
-	     var i= branches.length;
-	     var branch, branchName, path;
-	     var hasListeners= tree['_listeners'];
-	     var isArrayPath;
-
-	     while(i-->0){
-	         branchName= branches[i];
-
-	         branch= tree[branchName];
-
-	         if(branchName==='_listeners'){
-	             path= root;
-	         }else {
-	             path = root ? root.concat(branchName) : [branchName];
-	         }
-
-	         isArrayPath= asArray || typeof branchName==='symbol';
-
-	         hasListeners && events.push(isArrayPath? path : path.join(this.delimiter));
-
-	         if(typeof branch==='object'){
-	             collectTreeEvents.call(this, branch, events, path, isArrayPath);
-	         }
-	     }
-
-	     return events;
-	  }
-
-	  function recursivelyGarbageCollect(root) {
-	    var keys = ownKeys(root);
-	    var i= keys.length;
-	    var obj, key, flag;
-	    while(i-->0){
-	      key = keys[i];
-	      obj = root[key];
-
-	      if(obj){
-	          flag= true;
-	          if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){
-	             delete root[key];
-	          }
-	      }
-	    }
-
-	    return flag;
-	  }
-
-	  function Listener(emitter, event, listener){
-	    this.emitter= emitter;
-	    this.event= event;
-	    this.listener= listener;
-	  }
-
-	  Listener.prototype.off= function(){
-	    this.emitter.off(this.event, this.listener);
-	    return this;
-	  };
-
-	  function setupListener(event, listener, options){
-	      if (options === true) {
-	        promisify = true;
-	      } else if (options === false) {
-	        async = true;
-	      } else {
-	        if (!options || typeof options !== 'object') {
-	          throw TypeError('options should be an object or true');
-	        }
-	        var async = options.async;
-	        var promisify = options.promisify;
-	        var nextTick = options.nextTick;
-	        var objectify = options.objectify;
-	      }
-
-	      if (async || nextTick || promisify) {
-	        var _listener = listener;
-	        var _origin = listener._origin || listener;
-
-	        if (nextTick && !nextTickSupported) {
-	          throw Error('process.nextTick is not supported');
-	        }
-
-	        if (promisify === undefined$1) {
-	          promisify = listener.constructor.name === 'AsyncFunction';
-	        }
-
-	        listener = function () {
-	          var args = arguments;
-	          var context = this;
-	          var event = this.event;
-
-	          return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) {
-	            _setImmediate(resolve);
-	          }).then(function () {
-	            context.event = event;
-	            return _listener.apply(context, args)
-	          })) : (nextTick ? process.nextTick : _setImmediate)(function () {
-	            context.event = event;
-	            _listener.apply(context, args);
-	          });
-	        };
-
-	        listener._async = true;
-	        listener._origin = _origin;
-	      }
-
-	    return [listener, objectify? new Listener(this, event, listener): this];
-	  }
-
-	  function EventEmitter(conf) {
-	    this._events = {};
-	    this._newListener = false;
-	    this._removeListener = false;
-	    this.verboseMemoryLeak = false;
-	    configure.call(this, conf);
-	  }
-
-	  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
-
-	  EventEmitter.prototype.listenTo= function(target, events, options){
-	    if(typeof target!=='object'){
-	      throw TypeError('target musts be an object');
-	    }
-
-	    var emitter= this;
-
-	    options = resolveOptions(options, {
-	      on: undefined$1,
-	      off: undefined$1,
-	      reducers: undefined$1
-	    }, {
-	      on: functionReducer,
-	      off: functionReducer,
-	      reducers: objectFunctionReducer
-	    });
-
-	    function listen(events){
-	      if(typeof events!=='object'){
-	        throw TypeError('events must be an object');
-	      }
-
-	      var reducers= options.reducers;
-	      var index= findTargetIndex.call(emitter, target);
-	      var observer;
-
-	      if(index===-1){
-	        observer= new TargetObserver(emitter, target, options);
-	      }else {
-	        observer= emitter._observers[index];
-	      }
-
-	      var keys= ownKeys(events);
-	      var len= keys.length;
-	      var event;
-	      var isSingleReducer= typeof reducers==='function';
-
-	      for(var i=0; i<len; i++){
-	        event= keys[i];
-	        observer.subscribe(
-	            event,
-	            events[event] || event,
-	            isSingleReducer ? reducers : reducers && reducers[event]
-	        );
-	      }
-	    }
-
-	    isArray(events)?
-	        listen(toObject(events)) :
-	        (typeof events==='string'? listen(toObject(events.split(/\s+/))): listen(events));
-
-	    return this;
-	  };
-
-	  EventEmitter.prototype.stopListeningTo = function (target, event) {
-	    var observers = this._observers;
-
-	    if(!observers){
-	      return false;
-	    }
-
-	    var i = observers.length;
-	    var observer;
-	    var matched= false;
-
-	    if(target && typeof target!=='object'){
-	      throw TypeError('target should be an object');
-	    }
-
-	    while (i-- > 0) {
-	      observer = observers[i];
-	      if (!target || observer._target === target) {
-	        observer.unsubscribe(event);
-	        matched= true;
-	      }
-	    }
-
-	    return matched;
-	  };
-
-	  // By default EventEmitters will print a warning if more than
-	  // 10 listeners are added to it. This is a useful default which
-	  // helps finding memory leaks.
-	  //
-	  // Obviously not all Emitters should be limited to 10. This function allows
-	  // that to be increased. Set to zero for unlimited.
-
-	  EventEmitter.prototype.delimiter = '.';
-
-	  EventEmitter.prototype.setMaxListeners = function(n) {
-	    if (n !== undefined$1) {
-	      this._maxListeners = n;
-	      if (!this._conf) { this._conf = {}; }
-	      this._conf.maxListeners = n;
-	    }
-	  };
-
-	  EventEmitter.prototype.getMaxListeners = function() {
-	    return this._maxListeners;
-	  };
-
-	  EventEmitter.prototype.event = '';
-
-	  EventEmitter.prototype.once = function(event, fn, options) {
-	    return this._once(event, fn, false, options);
-	  };
-
-	  EventEmitter.prototype.prependOnceListener = function(event, fn, options) {
-	    return this._once(event, fn, true, options);
-	  };
-
-	  EventEmitter.prototype._once = function(event, fn, prepend, options) {
-	    return this._many(event, 1, fn, prepend, options);
-	  };
-
-	  EventEmitter.prototype.many = function(event, ttl, fn, options) {
-	    return this._many(event, ttl, fn, false, options);
-	  };
-
-	  EventEmitter.prototype.prependMany = function(event, ttl, fn, options) {
-	    return this._many(event, ttl, fn, true, options);
-	  };
-
-	  EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) {
-	    var self = this;
-
-	    if (typeof fn !== 'function') {
-	      throw new Error('many only accepts instances of Function');
-	    }
-
-	    function listener() {
-	      if (--ttl === 0) {
-	        self.off(event, listener);
-	      }
-	      return fn.apply(this, arguments);
-	    }
-
-	    listener._origin = fn;
-
-	    return this._on(event, listener, prepend, options);
-	  };
-
-	  EventEmitter.prototype.emit = function() {
-	    var arguments$1 = arguments;
-
-	    if (!this._events && !this._all) {
-	      return false;
-	    }
-
-	    this._events || init.call(this);
-
-	    var type = arguments[0], ns, wildcard= this.wildcard;
-	    var args,l,i,j, containsSymbol;
-
-	    if (type === 'newListener' && !this._newListener) {
-	      if (!this._events.newListener) {
-	        return false;
-	      }
-	    }
-
-	    if (wildcard) {
-	      ns= type;
-	      if(type!=='newListener' && type!=='removeListener'){
-	        if (typeof type === 'object') {
-	          l = type.length;
-	          if (symbolsSupported) {
-	            for (i = 0; i < l; i++) {
-	              if (typeof type[i] === 'symbol') {
-	                containsSymbol = true;
-	                break;
-	              }
-	            }
-	          }
-	          if (!containsSymbol) {
-	            type = type.join(this.delimiter);
-	          }
-	        }
-	      }
-	    }
-
-	    var al = arguments.length;
-	    var handler;
-
-	    if (this._all && this._all.length) {
-	      handler = this._all.slice();
-
-	      for (i = 0, l = handler.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          handler[i].call(this, type);
-	          break;
-	        case 2:
-	          handler[i].call(this, type, arguments$1[1]);
-	          break;
-	        case 3:
-	          handler[i].call(this, type, arguments$1[1], arguments$1[2]);
-	          break;
-	        default:
-	          handler[i].apply(this, arguments$1);
-	        }
-	      }
-	    }
-
-	    if (wildcard) {
-	      handler = [];
-	      searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l);
-	    } else {
-	      handler = this._events[type];
-	      if (typeof handler === 'function') {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          handler.call(this);
-	          break;
-	        case 2:
-	          handler.call(this, arguments[1]);
-	          break;
-	        case 3:
-	          handler.call(this, arguments[1], arguments[2]);
-	          break;
-	        default:
-	          args = new Array(al - 1);
-	          for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	          handler.apply(this, args);
-	        }
-	        return true;
-	      } else if (handler) {
-	        // need to make copy of handlers because list can change in the middle
-	        // of emit call
-	        handler = handler.slice();
-	      }
-	    }
-
-	    if (handler && handler.length) {
-	      if (al > 3) {
-	        args = new Array(al - 1);
-	        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	      }
-	      for (i = 0, l = handler.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          handler[i].call(this);
-	          break;
-	        case 2:
-	          handler[i].call(this, arguments$1[1]);
-	          break;
-	        case 3:
-	          handler[i].call(this, arguments$1[1], arguments$1[2]);
-	          break;
-	        default:
-	          handler[i].apply(this, args);
-	        }
-	      }
-	      return true;
-	    } else if (!this.ignoreErrors && !this._all && type === 'error') {
-	      if (arguments[1] instanceof Error) {
-	        throw arguments[1]; // Unhandled 'error' event
-	      } else {
-	        throw new Error("Uncaught, unspecified 'error' event.");
-	      }
-	    }
-
-	    return !!this._all;
-	  };
-
-	  EventEmitter.prototype.emitAsync = function() {
-	    var arguments$1 = arguments;
-
-	    if (!this._events && !this._all) {
-	      return false;
-	    }
-
-	    this._events || init.call(this);
-
-	    var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol;
-	    var args,l,i,j;
-
-	    if (type === 'newListener' && !this._newListener) {
-	        if (!this._events.newListener) { return Promise.resolve([false]); }
-	    }
-
-	    if (wildcard) {
-	      ns= type;
-	      if(type!=='newListener' && type!=='removeListener'){
-	        if (typeof type === 'object') {
-	          l = type.length;
-	          if (symbolsSupported) {
-	            for (i = 0; i < l; i++) {
-	              if (typeof type[i] === 'symbol') {
-	                containsSymbol = true;
-	                break;
-	              }
-	            }
-	          }
-	          if (!containsSymbol) {
-	            type = type.join(this.delimiter);
-	          }
-	        }
-	      }
-	    }
-
-	    var promises= [];
-
-	    var al = arguments.length;
-	    var handler;
-
-	    if (this._all) {
-	      for (i = 0, l = this._all.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          promises.push(this._all[i].call(this, type));
-	          break;
-	        case 2:
-	          promises.push(this._all[i].call(this, type, arguments$1[1]));
-	          break;
-	        case 3:
-	          promises.push(this._all[i].call(this, type, arguments$1[1], arguments$1[2]));
-	          break;
-	        default:
-	          promises.push(this._all[i].apply(this, arguments$1));
-	        }
-	      }
-	    }
-
-	    if (wildcard) {
-	      handler = [];
-	      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
-	    } else {
-	      handler = this._events[type];
-	    }
-
-	    if (typeof handler === 'function') {
-	      this.event = type;
-	      switch (al) {
-	      case 1:
-	        promises.push(handler.call(this));
-	        break;
-	      case 2:
-	        promises.push(handler.call(this, arguments[1]));
-	        break;
-	      case 3:
-	        promises.push(handler.call(this, arguments[1], arguments[2]));
-	        break;
-	      default:
-	        args = new Array(al - 1);
-	        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	        promises.push(handler.apply(this, args));
-	      }
-	    } else if (handler && handler.length) {
-	      handler = handler.slice();
-	      if (al > 3) {
-	        args = new Array(al - 1);
-	        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
-	      }
-	      for (i = 0, l = handler.length; i < l; i++) {
-	        this.event = type;
-	        switch (al) {
-	        case 1:
-	          promises.push(handler[i].call(this));
-	          break;
-	        case 2:
-	          promises.push(handler[i].call(this, arguments$1[1]));
-	          break;
-	        case 3:
-	          promises.push(handler[i].call(this, arguments$1[1], arguments$1[2]));
-	          break;
-	        default:
-	          promises.push(handler[i].apply(this, args));
-	        }
-	      }
-	    } else if (!this.ignoreErrors && !this._all && type === 'error') {
-	      if (arguments[1] instanceof Error) {
-	        return Promise.reject(arguments[1]); // Unhandled 'error' event
-	      } else {
-	        return Promise.reject("Uncaught, unspecified 'error' event.");
-	      }
-	    }
-
-	    return Promise.all(promises);
-	  };
-
-	  EventEmitter.prototype.on = function(type, listener, options) {
-	    return this._on(type, listener, false, options);
-	  };
-
-	  EventEmitter.prototype.prependListener = function(type, listener, options) {
-	    return this._on(type, listener, true, options);
-	  };
-
-	  EventEmitter.prototype.onAny = function(fn) {
-	    return this._onAny(fn, false);
-	  };
-
-	  EventEmitter.prototype.prependAny = function(fn) {
-	    return this._onAny(fn, true);
-	  };
-
-	  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
-
-	  EventEmitter.prototype._onAny = function(fn, prepend){
-	    if (typeof fn !== 'function') {
-	      throw new Error('onAny only accepts instances of Function');
-	    }
-
-	    if (!this._all) {
-	      this._all = [];
-	    }
-
-	    // Add the function to the event listener collection.
-	    if(prepend){
-	      this._all.unshift(fn);
-	    }else {
-	      this._all.push(fn);
-	    }
-
-	    return this;
-	  };
-
-	  EventEmitter.prototype._on = function(type, listener, prepend, options) {
-	    if (typeof type === 'function') {
-	      this._onAny(type, listener);
-	      return this;
-	    }
-
-	    if (typeof listener !== 'function') {
-	      throw new Error('on only accepts instances of Function');
-	    }
-	    this._events || init.call(this);
-
-	    var returnValue= this, temp;
-
-	    if (options !== undefined$1) {
-	      temp = setupListener.call(this, type, listener, options);
-	      listener = temp[0];
-	      returnValue = temp[1];
-	    }
-
-	    // To avoid recursion in the case that type == "newListeners"! Before
-	    // adding it to the listeners, first emit "newListeners".
-	    if (this._newListener) {
-	      this.emit('newListener', type, listener);
-	    }
-
-	    if (this.wildcard) {
-	      growListenerTree.call(this, type, listener, prepend);
-	      return returnValue;
-	    }
-
-	    if (!this._events[type]) {
-	      // Optimize the case of one listener. Don't need the extra array object.
-	      this._events[type] = listener;
-	    } else {
-	      if (typeof this._events[type] === 'function') {
-	        // Change to array.
-	        this._events[type] = [this._events[type]];
-	      }
-
-	      // If we've already got an array, just add
-	      if(prepend){
-	        this._events[type].unshift(listener);
-	      }else {
-	        this._events[type].push(listener);
-	      }
-
-	      // Check for listener leak
-	      if (
-	        !this._events[type].warned &&
-	        this._maxListeners > 0 &&
-	        this._events[type].length > this._maxListeners
-	      ) {
-	        this._events[type].warned = true;
-	        logPossibleMemoryLeak.call(this, this._events[type].length, type);
-	      }
-	    }
-
-	    return returnValue;
-	  };
-
-	  EventEmitter.prototype.off = function(type, listener) {
-	    if (typeof listener !== 'function') {
-	      throw new Error('removeListener only takes instances of Function');
-	    }
-
-	    var handlers,leafs=[];
-
-	    if(this.wildcard) {
-	      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-	      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
-	      if(!leafs) { return this; }
-	    } else {
-	      // does not use listeners(), so no side effect of creating _events[type]
-	      if (!this._events[type]) { return this; }
-	      handlers = this._events[type];
-	      leafs.push({_listeners:handlers});
-	    }
-
-	    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
-	      var leaf = leafs[iLeaf];
-	      handlers = leaf._listeners;
-	      if (isArray(handlers)) {
-
-	        var position = -1;
-
-	        for (var i = 0, length = handlers.length; i < length; i++) {
-	          if (handlers[i] === listener ||
-	            (handlers[i].listener && handlers[i].listener === listener) ||
-	            (handlers[i]._origin && handlers[i]._origin === listener)) {
-	            position = i;
-	            break;
-	          }
-	        }
-
-	        if (position < 0) {
-	          continue;
-	        }
-
-	        if(this.wildcard) {
-	          leaf._listeners.splice(position, 1);
-	        }
-	        else {
-	          this._events[type].splice(position, 1);
-	        }
-
-	        if (handlers.length === 0) {
-	          if(this.wildcard) {
-	            delete leaf._listeners;
-	          }
-	          else {
-	            delete this._events[type];
-	          }
-	        }
-	        if (this._removeListener)
-	          { this.emit("removeListener", type, listener); }
-
-	        return this;
-	      }
-	      else if (handlers === listener ||
-	        (handlers.listener && handlers.listener === listener) ||
-	        (handlers._origin && handlers._origin === listener)) {
-	        if(this.wildcard) {
-	          delete leaf._listeners;
-	        }
-	        else {
-	          delete this._events[type];
-	        }
-	        if (this._removeListener)
-	          { this.emit("removeListener", type, listener); }
-	      }
-	    }
-
-	    this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
-
-	    return this;
-	  };
-
-	  EventEmitter.prototype.offAny = function(fn) {
-	    var i = 0, l = 0, fns;
-	    if (fn && this._all && this._all.length > 0) {
-	      fns = this._all;
-	      for(i = 0, l = fns.length; i < l; i++) {
-	        if(fn === fns[i]) {
-	          fns.splice(i, 1);
-	          if (this._removeListener)
-	            { this.emit("removeListenerAny", fn); }
-	          return this;
-	        }
-	      }
-	    } else {
-	      fns = this._all;
-	      if (this._removeListener) {
-	        for(i = 0, l = fns.length; i < l; i++)
-	          { this.emit("removeListenerAny", fns[i]); }
-	      }
-	      this._all = [];
-	    }
-	    return this;
-	  };
-
-	  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
-
-	  EventEmitter.prototype.removeAllListeners = function (type) {
-	    if (type === undefined$1) {
-	      !this._events || init.call(this);
-	      return this;
-	    }
-
-	    if (this.wildcard) {
-	      var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i;
-	      if (!leafs) { return this; }
-	      for (i = 0; i < leafs.length; i++) {
-	        leaf = leafs[i];
-	        leaf._listeners = null;
-	      }
-	      this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
-	    } else if (this._events) {
-	      this._events[type] = null;
-	    }
-	    return this;
-	  };
-
-	  EventEmitter.prototype.listeners = function (type) {
-	    var _events = this._events;
-	    var keys, listeners, allListeners;
-	    var i;
-	    var listenerTree;
-
-	    if (type === undefined$1) {
-	      if (this.wildcard) {
-	        throw Error('event name required for wildcard emitter');
-	      }
-
-	      if (!_events) {
-	        return [];
-	      }
-
-	      keys = ownKeys(_events);
-	      i = keys.length;
-	      allListeners = [];
-	      while (i-- > 0) {
-	        listeners = _events[keys[i]];
-	        if (typeof listeners === 'function') {
-	          allListeners.push(listeners);
-	        } else {
-	          allListeners.push.apply(allListeners, listeners);
-	        }
-	      }
-	      return allListeners;
-	    } else {
-	      if (this.wildcard) {
-	        listenerTree= this.listenerTree;
-	        if(!listenerTree) { return []; }
-	        var handlers = [];
-	        var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-	        searchListenerTree.call(this, handlers, ns, listenerTree, 0);
-	        return handlers;
-	      }
-
-	      if (!_events) {
-	        return [];
-	      }
-
-	      listeners = _events[type];
-
-	      if (!listeners) {
-	        return [];
-	      }
-	      return typeof listeners === 'function' ? [listeners] : listeners;
-	    }
-	  };
-
-	  EventEmitter.prototype.eventNames = function(nsAsArray){
-	    var _events= this._events;
-	    return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []);
-	  };
-
-	  EventEmitter.prototype.listenerCount = function(type) {
-	    return this.listeners(type).length;
-	  };
-
-	  EventEmitter.prototype.hasListeners = function (type) {
-	    if (this.wildcard) {
-	      var handlers = [];
-	      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-	      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
-	      return handlers.length > 0;
-	    }
-
-	    var _events = this._events;
-	    var _all = this._all;
-
-	    return !!(_all && _all.length || _events && (type === undefined$1 ? ownKeys(_events).length : _events[type]));
-	  };
-
-	  EventEmitter.prototype.listenersAny = function() {
-
-	    if(this._all) {
-	      return this._all;
-	    }
-	    else {
-	      return [];
-	    }
-
-	  };
-
-	  EventEmitter.prototype.waitFor = function (event, options) {
-	    var self = this;
-	    var type = typeof options;
-	    if (type === 'number') {
-	      options = {timeout: options};
-	    } else if (type === 'function') {
-	      options = {filter: options};
-	    }
-
-	    options= resolveOptions(options, {
-	      timeout: 0,
-	      filter: undefined$1,
-	      handleError: false,
-	      Promise: Promise,
-	      overload: false
-	    }, {
-	      filter: functionReducer,
-	      Promise: constructorReducer
-	    });
-
-	    return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) {
-	      function listener() {
-	        var filter= options.filter;
-	        if (filter && !filter.apply(self, arguments)) {
-	          return;
-	        }
-	        self.off(event, listener);
-	        if (options.handleError) {
-	          var err = arguments[0];
-	          err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1));
-	        } else {
-	          resolve(toArray.apply(null, arguments));
-	        }
-	      }
-
-	      onCancel(function(){
-	        self.off(event, listener);
-	      });
-
-	      self._on(event, listener, false);
-	    }, {
-	      timeout: options.timeout,
-	      overload: options.overload
-	    })
-	  };
-
-	  function once(emitter, name, options) {
-	    options= resolveOptions(options, {
-	      Promise: Promise,
-	      timeout: 0,
-	      overload: false
-	    }, {
-	      Promise: constructorReducer
-	    });
-
-	    var _Promise= options.Promise;
-
-	    return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){
-	      var handler;
-	      if (typeof emitter.addEventListener === 'function') {
-	        handler=  function () {
-	          resolve(toArray.apply(null, arguments));
-	        };
-
-	        onCancel(function(){
-	          emitter.removeEventListener(name, handler);
-	        });
-
-	        emitter.addEventListener(
-	            name,
-	            handler,
-	            {once: true}
-	        );
-	        return;
-	      }
-
-	      var eventListener = function(){
-	        errorListener && emitter.removeListener('error', errorListener);
-	        resolve(toArray.apply(null, arguments));
-	      };
-
-	      var errorListener;
-
-	      if (name !== 'error') {
-	        errorListener = function (err){
-	          emitter.removeListener(name, eventListener);
-	          reject(err);
-	        };
-
-	        emitter.once('error', errorListener);
-	      }
-
-	      onCancel(function(){
-	        errorListener && emitter.removeListener('error', errorListener);
-	        emitter.removeListener(name, eventListener);
-	      });
-
-	      emitter.once(name, eventListener);
-	    }, {
-	      timeout: options.timeout,
-	      overload: options.overload
-	    });
-	  }
-
-	  var prototype= EventEmitter.prototype;
-
-	  Object.defineProperties(EventEmitter, {
-	    defaultMaxListeners: {
-	      get: function () {
-	        return prototype._maxListeners;
-	      },
-	      set: function (n) {
-	        if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) {
-	          throw TypeError('n must be a non-negative number')
-	        }
-	        prototype._maxListeners = n;
-	      },
-	      enumerable: true
-	    },
-	    once: {
-	      value: once,
-	      writable: true,
-	      configurable: true
-	    }
-	  });
-
-	  Object.defineProperties(prototype, {
-	      _maxListeners: {
-	          value: defaultMaxListeners,
-	          writable: true,
-	          configurable: true
-	      },
-	      _observers: {value: null, writable: true, configurable: true}
-	  });
-
-	  if (typeof undefined$1 === 'function' && undefined$1.amd) {
-	     // AMD. Register as an anonymous module.
-	    undefined$1(function() {
-	      return EventEmitter;
-	    });
-	  } else {
-	    // CommonJS
-	    module.exports = EventEmitter;
-	  }
-	}(); 
-} (eventemitter2, eventemitter2.exports));
-
-var eventemitter2Exports = eventemitter2.exports;
+		  var hasOwnProperty= Object.hasOwnProperty;
+		  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
+		    return Object.prototype.toString.call(obj) === "[object Array]";
+		  };
+		  var defaultMaxListeners = 10;
+		  var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function';
+		  var symbolsSupported= typeof Symbol==='function';
+		  var reflectSupported= typeof Reflect === 'object';
+		  var setImmediateSupported= typeof setImmediate === 'function';
+		  var _setImmediate= setImmediateSupported ? setImmediate : setTimeout;
+		  var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){
+		    var arr= Object.getOwnPropertyNames(obj);
+		    arr.push.apply(arr, Object.getOwnPropertySymbols(obj));
+		    return arr;
+		  }) : Object.keys;
+
+		  function init() {
+		    this._events = {};
+		    if (this._conf) {
+		      configure.call(this, this._conf);
+		    }
+		  }
+
+		  function configure(conf) {
+		    if (conf) {
+		      this._conf = conf;
+
+		      conf.delimiter && (this.delimiter = conf.delimiter);
+
+		      if(conf.maxListeners!==undefined$1){
+		          this._maxListeners= conf.maxListeners;
+		      }
+
+		      conf.wildcard && (this.wildcard = conf.wildcard);
+		      conf.newListener && (this._newListener = conf.newListener);
+		      conf.removeListener && (this._removeListener = conf.removeListener);
+		      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
+		      conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors);
+
+		      if (this.wildcard) {
+		        this.listenerTree = {};
+		      }
+		    }
+		  }
+
+		  function logPossibleMemoryLeak(count, eventName) {
+		    var errorMsg = '(node) warning: possible EventEmitter memory ' +
+		        'leak detected. ' + count + ' listeners added. ' +
+		        'Use emitter.setMaxListeners() to increase limit.';
+
+		    if(this.verboseMemoryLeak){
+		      errorMsg += ' Event name: ' + eventName + '.';
+		    }
+
+		    if(typeof process !== 'undefined' && process.emitWarning){
+		      var e = new Error(errorMsg);
+		      e.name = 'MaxListenersExceededWarning';
+		      e.emitter = this;
+		      e.count = count;
+		      process.emitWarning(e);
+		    } else {
+		      console.error(errorMsg);
+
+		      if (console.trace){
+		        console.trace();
+		      }
+		    }
+		  }
+
+		  var toArray = function (a, b, c) {
+		    var arguments$1 = arguments;
+
+		    var n = arguments.length;
+		    switch (n) {
+		      case 0:
+		        return [];
+		      case 1:
+		        return [a];
+		      case 2:
+		        return [a, b];
+		      case 3:
+		        return [a, b, c];
+		      default:
+		        var arr = new Array(n);
+		        while (n--) {
+		          arr[n] = arguments$1[n];
+		        }
+		        return arr;
+		    }
+		  };
+
+		  function toObject(keys, values) {
+		    var obj = {};
+		    var key;
+		    var len = keys.length;
+		    var valuesCount = values ? value.length : 0;
+		    for (var i = 0; i < len; i++) {
+		      key = keys[i];
+		      obj[key] = i < valuesCount ? values[i] : undefined$1;
+		    }
+		    return obj;
+		  }
+
+		  function TargetObserver(emitter, target, options) {
+		    this._emitter = emitter;
+		    this._target = target;
+		    this._listeners = {};
+		    this._listenersCount = 0;
+
+		    var on, off;
+
+		    if (options.on || options.off) {
+		      on = options.on;
+		      off = options.off;
+		    }
+
+		    if (target.addEventListener) {
+		      on = target.addEventListener;
+		      off = target.removeEventListener;
+		    } else if (target.addListener) {
+		      on = target.addListener;
+		      off = target.removeListener;
+		    } else if (target.on) {
+		      on = target.on;
+		      off = target.off;
+		    }
+
+		    if (!on && !off) {
+		      throw Error('target does not implement any known event API');
+		    }
+
+		    if (typeof on !== 'function') {
+		      throw TypeError('on method must be a function');
+		    }
+
+		    if (typeof off !== 'function') {
+		      throw TypeError('off method must be a function');
+		    }
+
+		    this._on = on;
+		    this._off = off;
+
+		    var _observers= emitter._observers;
+		    if(_observers){
+		      _observers.push(this);
+		    }else {
+		      emitter._observers= [this];
+		    }
+		  }
+
+		  Object.assign(TargetObserver.prototype, {
+		    subscribe: function(event, localEvent, reducer){
+		      var observer= this;
+		      var target= this._target;
+		      var emitter= this._emitter;
+		      var listeners= this._listeners;
+		      var handler= function(){
+		        var args= toArray.apply(null, arguments);
+		        var eventObj= {
+		          data: args,
+		          name: localEvent,
+		          original: event
+		        };
+		        if(reducer){
+		          var result= reducer.call(target, eventObj);
+		          if(result!==false){
+		            emitter.emit.apply(emitter, [eventObj.name].concat(args));
+		          }
+		          return;
+		        }
+		        emitter.emit.apply(emitter, [localEvent].concat(args));
+		      };
+
+
+		      if(listeners[event]){
+		        throw Error('Event \'' + event + '\' is already listening');
+		      }
+
+		      this._listenersCount++;
+
+		      if(emitter._newListener && emitter._removeListener && !observer._onNewListener){
+
+		        this._onNewListener = function (_event) {
+		          if (_event === localEvent && listeners[event] === null) {
+		            listeners[event] = handler;
+		            observer._on.call(target, event, handler);
+		          }
+		        };
+
+		        emitter.on('newListener', this._onNewListener);
+
+		        this._onRemoveListener= function(_event){
+		          if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){
+		            listeners[event]= null;
+		            observer._off.call(target, event, handler);
+		          }
+		        };
+
+		        listeners[event]= null;
+
+		        emitter.on('removeListener', this._onRemoveListener);
+		      }else {
+		        listeners[event]= handler;
+		        observer._on.call(target, event, handler);
+		      }
+		    },
+
+		    unsubscribe: function(event){
+		      var observer= this;
+		      var listeners= this._listeners;
+		      var emitter= this._emitter;
+		      var handler;
+		      var events;
+		      var off= this._off;
+		      var target= this._target;
+		      var i;
+
+		      if(event && typeof event!=='string'){
+		        throw TypeError('event must be a string');
+		      }
+
+		      function clearRefs(){
+		        if(observer._onNewListener){
+		          emitter.off('newListener', observer._onNewListener);
+		          emitter.off('removeListener', observer._onRemoveListener);
+		          observer._onNewListener= null;
+		          observer._onRemoveListener= null;
+		        }
+		        var index= findTargetIndex.call(emitter, observer);
+		        emitter._observers.splice(index, 1);
+		      }
+
+		      if(event){
+		        handler= listeners[event];
+		        if(!handler) { return; }
+		        off.call(target, event, handler);
+		        delete listeners[event];
+		        if(!--this._listenersCount){
+		          clearRefs();
+		        }
+		      }else {
+		        events= ownKeys(listeners);
+		        i= events.length;
+		        while(i-->0){
+		          event= events[i];
+		          off.call(target, event, listeners[event]);
+		        }
+		        this._listeners= {};
+		        this._listenersCount= 0;
+		        clearRefs();
+		      }
+		    }
+		  });
+
+		  function resolveOptions(options, schema, reducers, allowUnknown) {
+		    var computedOptions = Object.assign({}, schema);
+
+		    if (!options) { return computedOptions; }
+
+		    if (typeof options !== 'object') {
+		      throw TypeError('options must be an object')
+		    }
+
+		    var keys = Object.keys(options);
+		    var length = keys.length;
+		    var option, value;
+		    var reducer;
+
+		    function reject(reason) {
+		      throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : ''))
+		    }
+
+		    for (var i = 0; i < length; i++) {
+		      option = keys[i];
+		      if (!allowUnknown && !hasOwnProperty.call(schema, option)) {
+		        throw Error('Unknown "' + option + '" option');
+		      }
+		      value = options[option];
+		      if (value !== undefined$1) {
+		        reducer = reducers[option];
+		        computedOptions[option] = reducer ? reducer(value, reject) : value;
+		      }
+		    }
+		    return computedOptions;
+		  }
+
+		  function constructorReducer(value, reject) {
+		    if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) {
+		      reject('value must be a constructor');
+		    }
+		    return value;
+		  }
+
+		  function makeTypeReducer(types) {
+		    var message= 'value must be type of ' + types.join('|');
+		    var len= types.length;
+		    var firstType= types[0];
+		    var secondType= types[1];
+
+		    if (len === 1) {
+		      return function (v, reject) {
+		        if (typeof v === firstType) {
+		          return v;
+		        }
+		        reject(message);
+		      }
+		    }
+
+		    if (len === 2) {
+		      return function (v, reject) {
+		        var kind= typeof v;
+		        if (kind === firstType || kind === secondType) { return v; }
+		        reject(message);
+		      }
+		    }
+
+		    return function (v, reject) {
+		      var kind = typeof v;
+		      var i = len;
+		      while (i-- > 0) {
+		        if (kind === types[i]) { return v; }
+		      }
+		      reject(message);
+		    }
+		  }
+
+		  var functionReducer= makeTypeReducer(['function']);
+
+		  var objectFunctionReducer= makeTypeReducer(['object', 'function']);
+
+		  function makeCancelablePromise(Promise, executor, options) {
+		    var isCancelable;
+		    var callbacks;
+		    var timer= 0;
+		    var subscriptionClosed;
+
+		    var promise = new Promise(function (resolve, reject, onCancel) {
+		      options= resolveOptions(options, {
+		        timeout: 0,
+		        overload: false
+		      }, {
+		        timeout: function(value, reject){
+		          value*= 1;
+		          if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) {
+		            reject('timeout must be a positive number');
+		          }
+		          return value;
+		        }
+		      });
+
+		      isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function';
+
+		      function cleanup() {
+		        if (callbacks) {
+		          callbacks = null;
+		        }
+		        if (timer) {
+		          clearTimeout(timer);
+		          timer = 0;
+		        }
+		      }
+
+		      var _resolve= function(value){
+		        cleanup();
+		        resolve(value);
+		      };
+
+		      var _reject= function(err){
+		        cleanup();
+		        reject(err);
+		      };
+
+		      if (isCancelable) {
+		        executor(_resolve, _reject, onCancel);
+		      } else {
+		        callbacks = [function(reason){
+		          _reject(reason || Error('canceled'));
+		        }];
+		        executor(_resolve, _reject, function (cb) {
+		          if (subscriptionClosed) {
+		            throw Error('Unable to subscribe on cancel event asynchronously')
+		          }
+		          if (typeof cb !== 'function') {
+		            throw TypeError('onCancel callback must be a function');
+		          }
+		          callbacks.push(cb);
+		        });
+		        subscriptionClosed= true;
+		      }
+
+		      if (options.timeout > 0) {
+		        timer= setTimeout(function(){
+		          var reason= Error('timeout');
+		          reason.code = 'ETIMEDOUT';
+		          timer= 0;
+		          promise.cancel(reason);
+		          reject(reason);
+		        }, options.timeout);
+		      }
+		    });
+
+		    if (!isCancelable) {
+		      promise.cancel = function (reason) {
+		        if (!callbacks) {
+		          return;
+		        }
+		        var length = callbacks.length;
+		        for (var i = 1; i < length; i++) {
+		          callbacks[i](reason);
+		        }
+		        // internal callback to reject the promise
+		        callbacks[0](reason);
+		        callbacks = null;
+		      };
+		    }
+
+		    return promise;
+		  }
+
+		  function findTargetIndex(observer) {
+		    var observers = this._observers;
+		    if(!observers){
+		      return -1;
+		    }
+		    var len = observers.length;
+		    for (var i = 0; i < len; i++) {
+		      if (observers[i]._target === observer) { return i; }
+		    }
+		    return -1;
+		  }
+
+		  // Attention, function return type now is array, always !
+		  // It has zero elements if no any matches found and one or more
+		  // elements (leafs) if there are matches
+		  //
+		  function searchListenerTree(handlers, type, tree, i, typeLength) {
+		    if (!tree) {
+		      return null;
+		    }
+
+		    if (i === 0) {
+		      var kind = typeof type;
+		      if (kind === 'string') {
+		        var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length;
+		        if ((n = type.indexOf(delimiter)) !== -1) {
+		          ns = new Array(5);
+		          do {
+		            ns[l++] = type.slice(j, n);
+		            j = n + dl;
+		          } while ((n = type.indexOf(delimiter, j)) !== -1);
+
+		          ns[l++] = type.slice(j);
+		          type = ns;
+		          typeLength = l;
+		        } else {
+		          type = [type];
+		          typeLength = 1;
+		        }
+		      } else if (kind === 'object') {
+		        typeLength = type.length;
+		      } else {
+		        type = [type];
+		        typeLength = 1;
+		      }
+		    }
+
+		    var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
+		        nextType = type[i + 1], branches, _listeners;
+
+		    if (i === typeLength) {
+		      //
+		      // If at the end of the event(s) list and the tree has listeners
+		      // invoke those listeners.
+		      //
+
+		      if(tree._listeners) {
+		        if (typeof tree._listeners === 'function') {
+		          handlers && handlers.push(tree._listeners);
+		          listeners = [tree];
+		        } else {
+		          handlers && handlers.push.apply(handlers, tree._listeners);
+		          listeners = [tree];
+		        }
+		      }
+		    } else {
+
+		      if (currentType === '*') {
+		        //
+		        // If the event emitted is '*' at this part
+		        // or there is a concrete match at this patch
+		        //
+		        branches = ownKeys(tree);
+		        n = branches.length;
+		        while (n-- > 0) {
+		          branch = branches[n];
+		          if (branch !== '_listeners') {
+		            _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
+		            if (_listeners) {
+		              if (listeners) {
+		                listeners.push.apply(listeners, _listeners);
+		              } else {
+		                listeners = _listeners;
+		              }
+		            }
+		          }
+		        }
+		        return listeners;
+		      } else if (currentType === '**') {
+		        endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
+		        if (endReached && tree._listeners) {
+		          // The next element has a _listeners, add it to the handlers.
+		          listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
+		        }
+
+		        branches = ownKeys(tree);
+		        n = branches.length;
+		        while (n-- > 0) {
+		          branch = branches[n];
+		          if (branch !== '_listeners') {
+		            if (branch === '*' || branch === '**') {
+		              if (tree[branch]._listeners && !endReached) {
+		                _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
+		                if (_listeners) {
+		                  if (listeners) {
+		                    listeners.push.apply(listeners, _listeners);
+		                  } else {
+		                    listeners = _listeners;
+		                  }
+		                }
+		              }
+		              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
+		            } else if (branch === nextType) {
+		              _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
+		            } else {
+		              // No match on this one, shift into the tree but not in the type array.
+		              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
+		            }
+		            if (_listeners) {
+		              if (listeners) {
+		                listeners.push.apply(listeners, _listeners);
+		              } else {
+		                listeners = _listeners;
+		              }
+		            }
+		          }
+		        }
+		        return listeners;
+		      } else if (tree[currentType]) {
+		        listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
+		      }
+		    }
+
+		      xTree = tree['*'];
+		    if (xTree) {
+		      //
+		      // If the listener tree will allow any match for this part,
+		      // then recursively explore all branches of the tree
+		      //
+		      searchListenerTree(handlers, type, xTree, i + 1, typeLength);
+		    }
+
+		    xxTree = tree['**'];
+		    if (xxTree) {
+		      if (i < typeLength) {
+		        if (xxTree._listeners) {
+		          // If we have a listener on a '**', it will catch all, so add its handler.
+		          searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
+		        }
+
+		        // Build arrays of matching next branches and others.
+		        branches= ownKeys(xxTree);
+		        n= branches.length;
+		        while(n-->0){
+		          branch= branches[n];
+		          if (branch !== '_listeners') {
+		            if (branch === nextType) {
+		              // We know the next element will match, so jump twice.
+		              searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength);
+		            } else if (branch === currentType) {
+		              // Current node matches, move into the tree.
+		              searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength);
+		            } else {
+		              isolatedBranch = {};
+		              isolatedBranch[branch] = xxTree[branch];
+		              searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength);
+		            }
+		          }
+		        }
+		      } else if (xxTree._listeners) {
+		        // We have reached the end and still on a '**'
+		        searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
+		      } else if (xxTree['*'] && xxTree['*']._listeners) {
+		        searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength);
+		      }
+		    }
+
+		    return listeners;
+		  }
+
+		  function growListenerTree(type, listener, prepend) {
+		    var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns;
+
+		    if(typeof type==='string') {
+		      if ((i = type.indexOf(delimiter)) !== -1) {
+		        ns = new Array(5);
+		        do {
+		          ns[len++] = type.slice(j, i);
+		          j = i + dl;
+		        } while ((i = type.indexOf(delimiter, j)) !== -1);
+
+		        ns[len++] = type.slice(j);
+		      }else {
+		        ns= [type];
+		        len= 1;
+		      }
+		    }else {
+		      ns= type;
+		      len= type.length;
+		    }
+
+		    //
+		    // Looks for two consecutive '**', if so, don't add the event at all.
+		    //
+		    if (len > 1) {
+		      for (i = 0; i + 1 < len; i++) {
+		        if (ns[i] === '**' && ns[i + 1] === '**') {
+		          return;
+		        }
+		      }
+		    }
+
+
+
+		    var tree = this.listenerTree, name;
+
+		    for (i = 0; i < len; i++) {
+		      name = ns[i];
+
+		      tree = tree[name] || (tree[name] = {});
+
+		      if (i === len - 1) {
+		        if (!tree._listeners) {
+		          tree._listeners = listener;
+		        } else {
+		          if (typeof tree._listeners === 'function') {
+		            tree._listeners = [tree._listeners];
+		          }
+
+		          if (prepend) {
+		            tree._listeners.unshift(listener);
+		          } else {
+		            tree._listeners.push(listener);
+		          }
+
+		          if (
+		              !tree._listeners.warned &&
+		              this._maxListeners > 0 &&
+		              tree._listeners.length > this._maxListeners
+		          ) {
+		            tree._listeners.warned = true;
+		            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
+		          }
+		        }
+		        return true;
+		      }
+		    }
+
+		    return true;
+		  }
+
+		  function collectTreeEvents(tree, events, root, asArray){
+		     var branches= ownKeys(tree);
+		     var i= branches.length;
+		     var branch, branchName, path;
+		     var hasListeners= tree['_listeners'];
+		     var isArrayPath;
+
+		     while(i-->0){
+		         branchName= branches[i];
+
+		         branch= tree[branchName];
+
+		         if(branchName==='_listeners'){
+		             path= root;
+		         }else {
+		             path = root ? root.concat(branchName) : [branchName];
+		         }
+
+		         isArrayPath= asArray || typeof branchName==='symbol';
+
+		         hasListeners && events.push(isArrayPath? path : path.join(this.delimiter));
+
+		         if(typeof branch==='object'){
+		             collectTreeEvents.call(this, branch, events, path, isArrayPath);
+		         }
+		     }
+
+		     return events;
+		  }
+
+		  function recursivelyGarbageCollect(root) {
+		    var keys = ownKeys(root);
+		    var i= keys.length;
+		    var obj, key, flag;
+		    while(i-->0){
+		      key = keys[i];
+		      obj = root[key];
+
+		      if(obj){
+		          flag= true;
+		          if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){
+		             delete root[key];
+		          }
+		      }
+		    }
+
+		    return flag;
+		  }
+
+		  function Listener(emitter, event, listener){
+		    this.emitter= emitter;
+		    this.event= event;
+		    this.listener= listener;
+		  }
+
+		  Listener.prototype.off= function(){
+		    this.emitter.off(this.event, this.listener);
+		    return this;
+		  };
+
+		  function setupListener(event, listener, options){
+		      if (options === true) {
+		        promisify = true;
+		      } else if (options === false) {
+		        async = true;
+		      } else {
+		        if (!options || typeof options !== 'object') {
+		          throw TypeError('options should be an object or true');
+		        }
+		        var async = options.async;
+		        var promisify = options.promisify;
+		        var nextTick = options.nextTick;
+		        var objectify = options.objectify;
+		      }
+
+		      if (async || nextTick || promisify) {
+		        var _listener = listener;
+		        var _origin = listener._origin || listener;
+
+		        if (nextTick && !nextTickSupported) {
+		          throw Error('process.nextTick is not supported');
+		        }
+
+		        if (promisify === undefined$1) {
+		          promisify = listener.constructor.name === 'AsyncFunction';
+		        }
+
+		        listener = function () {
+		          var args = arguments;
+		          var context = this;
+		          var event = this.event;
+
+		          return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) {
+		            _setImmediate(resolve);
+		          }).then(function () {
+		            context.event = event;
+		            return _listener.apply(context, args)
+		          })) : (nextTick ? process.nextTick : _setImmediate)(function () {
+		            context.event = event;
+		            _listener.apply(context, args);
+		          });
+		        };
+
+		        listener._async = true;
+		        listener._origin = _origin;
+		      }
+
+		    return [listener, objectify? new Listener(this, event, listener): this];
+		  }
+
+		  function EventEmitter(conf) {
+		    this._events = {};
+		    this._newListener = false;
+		    this._removeListener = false;
+		    this.verboseMemoryLeak = false;
+		    configure.call(this, conf);
+		  }
+
+		  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
+
+		  EventEmitter.prototype.listenTo= function(target, events, options){
+		    if(typeof target!=='object'){
+		      throw TypeError('target musts be an object');
+		    }
+
+		    var emitter= this;
+
+		    options = resolveOptions(options, {
+		      on: undefined$1,
+		      off: undefined$1,
+		      reducers: undefined$1
+		    }, {
+		      on: functionReducer,
+		      off: functionReducer,
+		      reducers: objectFunctionReducer
+		    });
+
+		    function listen(events){
+		      if(typeof events!=='object'){
+		        throw TypeError('events must be an object');
+		      }
+
+		      var reducers= options.reducers;
+		      var index= findTargetIndex.call(emitter, target);
+		      var observer;
+
+		      if(index===-1){
+		        observer= new TargetObserver(emitter, target, options);
+		      }else {
+		        observer= emitter._observers[index];
+		      }
+
+		      var keys= ownKeys(events);
+		      var len= keys.length;
+		      var event;
+		      var isSingleReducer= typeof reducers==='function';
+
+		      for(var i=0; i<len; i++){
+		        event= keys[i];
+		        observer.subscribe(
+		            event,
+		            events[event] || event,
+		            isSingleReducer ? reducers : reducers && reducers[event]
+		        );
+		      }
+		    }
+
+		    isArray(events)?
+		        listen(toObject(events)) :
+		        (typeof events==='string'? listen(toObject(events.split(/\s+/))): listen(events));
+
+		    return this;
+		  };
+
+		  EventEmitter.prototype.stopListeningTo = function (target, event) {
+		    var observers = this._observers;
+
+		    if(!observers){
+		      return false;
+		    }
+
+		    var i = observers.length;
+		    var observer;
+		    var matched= false;
+
+		    if(target && typeof target!=='object'){
+		      throw TypeError('target should be an object');
+		    }
+
+		    while (i-- > 0) {
+		      observer = observers[i];
+		      if (!target || observer._target === target) {
+		        observer.unsubscribe(event);
+		        matched= true;
+		      }
+		    }
+
+		    return matched;
+		  };
+
+		  // By default EventEmitters will print a warning if more than
+		  // 10 listeners are added to it. This is a useful default which
+		  // helps finding memory leaks.
+		  //
+		  // Obviously not all Emitters should be limited to 10. This function allows
+		  // that to be increased. Set to zero for unlimited.
+
+		  EventEmitter.prototype.delimiter = '.';
+
+		  EventEmitter.prototype.setMaxListeners = function(n) {
+		    if (n !== undefined$1) {
+		      this._maxListeners = n;
+		      if (!this._conf) { this._conf = {}; }
+		      this._conf.maxListeners = n;
+		    }
+		  };
+
+		  EventEmitter.prototype.getMaxListeners = function() {
+		    return this._maxListeners;
+		  };
+
+		  EventEmitter.prototype.event = '';
+
+		  EventEmitter.prototype.once = function(event, fn, options) {
+		    return this._once(event, fn, false, options);
+		  };
+
+		  EventEmitter.prototype.prependOnceListener = function(event, fn, options) {
+		    return this._once(event, fn, true, options);
+		  };
+
+		  EventEmitter.prototype._once = function(event, fn, prepend, options) {
+		    return this._many(event, 1, fn, prepend, options);
+		  };
+
+		  EventEmitter.prototype.many = function(event, ttl, fn, options) {
+		    return this._many(event, ttl, fn, false, options);
+		  };
+
+		  EventEmitter.prototype.prependMany = function(event, ttl, fn, options) {
+		    return this._many(event, ttl, fn, true, options);
+		  };
+
+		  EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) {
+		    var self = this;
+
+		    if (typeof fn !== 'function') {
+		      throw new Error('many only accepts instances of Function');
+		    }
+
+		    function listener() {
+		      if (--ttl === 0) {
+		        self.off(event, listener);
+		      }
+		      return fn.apply(this, arguments);
+		    }
+
+		    listener._origin = fn;
+
+		    return this._on(event, listener, prepend, options);
+		  };
+
+		  EventEmitter.prototype.emit = function() {
+		    var arguments$1 = arguments;
+
+		    if (!this._events && !this._all) {
+		      return false;
+		    }
+
+		    this._events || init.call(this);
+
+		    var type = arguments[0], ns, wildcard= this.wildcard;
+		    var args,l,i,j, containsSymbol;
+
+		    if (type === 'newListener' && !this._newListener) {
+		      if (!this._events.newListener) {
+		        return false;
+		      }
+		    }
+
+		    if (wildcard) {
+		      ns= type;
+		      if(type!=='newListener' && type!=='removeListener'){
+		        if (typeof type === 'object') {
+		          l = type.length;
+		          if (symbolsSupported) {
+		            for (i = 0; i < l; i++) {
+		              if (typeof type[i] === 'symbol') {
+		                containsSymbol = true;
+		                break;
+		              }
+		            }
+		          }
+		          if (!containsSymbol) {
+		            type = type.join(this.delimiter);
+		          }
+		        }
+		      }
+		    }
+
+		    var al = arguments.length;
+		    var handler;
+
+		    if (this._all && this._all.length) {
+		      handler = this._all.slice();
+
+		      for (i = 0, l = handler.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          handler[i].call(this, type);
+		          break;
+		        case 2:
+		          handler[i].call(this, type, arguments$1[1]);
+		          break;
+		        case 3:
+		          handler[i].call(this, type, arguments$1[1], arguments$1[2]);
+		          break;
+		        default:
+		          handler[i].apply(this, arguments$1);
+		        }
+		      }
+		    }
+
+		    if (wildcard) {
+		      handler = [];
+		      searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l);
+		    } else {
+		      handler = this._events[type];
+		      if (typeof handler === 'function') {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          handler.call(this);
+		          break;
+		        case 2:
+		          handler.call(this, arguments[1]);
+		          break;
+		        case 3:
+		          handler.call(this, arguments[1], arguments[2]);
+		          break;
+		        default:
+		          args = new Array(al - 1);
+		          for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		          handler.apply(this, args);
+		        }
+		        return true;
+		      } else if (handler) {
+		        // need to make copy of handlers because list can change in the middle
+		        // of emit call
+		        handler = handler.slice();
+		      }
+		    }
+
+		    if (handler && handler.length) {
+		      if (al > 3) {
+		        args = new Array(al - 1);
+		        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		      }
+		      for (i = 0, l = handler.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          handler[i].call(this);
+		          break;
+		        case 2:
+		          handler[i].call(this, arguments$1[1]);
+		          break;
+		        case 3:
+		          handler[i].call(this, arguments$1[1], arguments$1[2]);
+		          break;
+		        default:
+		          handler[i].apply(this, args);
+		        }
+		      }
+		      return true;
+		    } else if (!this.ignoreErrors && !this._all && type === 'error') {
+		      if (arguments[1] instanceof Error) {
+		        throw arguments[1]; // Unhandled 'error' event
+		      } else {
+		        throw new Error("Uncaught, unspecified 'error' event.");
+		      }
+		    }
+
+		    return !!this._all;
+		  };
+
+		  EventEmitter.prototype.emitAsync = function() {
+		    var arguments$1 = arguments;
+
+		    if (!this._events && !this._all) {
+		      return false;
+		    }
+
+		    this._events || init.call(this);
+
+		    var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol;
+		    var args,l,i,j;
+
+		    if (type === 'newListener' && !this._newListener) {
+		        if (!this._events.newListener) { return Promise.resolve([false]); }
+		    }
+
+		    if (wildcard) {
+		      ns= type;
+		      if(type!=='newListener' && type!=='removeListener'){
+		        if (typeof type === 'object') {
+		          l = type.length;
+		          if (symbolsSupported) {
+		            for (i = 0; i < l; i++) {
+		              if (typeof type[i] === 'symbol') {
+		                containsSymbol = true;
+		                break;
+		              }
+		            }
+		          }
+		          if (!containsSymbol) {
+		            type = type.join(this.delimiter);
+		          }
+		        }
+		      }
+		    }
+
+		    var promises= [];
+
+		    var al = arguments.length;
+		    var handler;
+
+		    if (this._all) {
+		      for (i = 0, l = this._all.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          promises.push(this._all[i].call(this, type));
+		          break;
+		        case 2:
+		          promises.push(this._all[i].call(this, type, arguments$1[1]));
+		          break;
+		        case 3:
+		          promises.push(this._all[i].call(this, type, arguments$1[1], arguments$1[2]));
+		          break;
+		        default:
+		          promises.push(this._all[i].apply(this, arguments$1));
+		        }
+		      }
+		    }
+
+		    if (wildcard) {
+		      handler = [];
+		      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
+		    } else {
+		      handler = this._events[type];
+		    }
+
+		    if (typeof handler === 'function') {
+		      this.event = type;
+		      switch (al) {
+		      case 1:
+		        promises.push(handler.call(this));
+		        break;
+		      case 2:
+		        promises.push(handler.call(this, arguments[1]));
+		        break;
+		      case 3:
+		        promises.push(handler.call(this, arguments[1], arguments[2]));
+		        break;
+		      default:
+		        args = new Array(al - 1);
+		        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		        promises.push(handler.apply(this, args));
+		      }
+		    } else if (handler && handler.length) {
+		      handler = handler.slice();
+		      if (al > 3) {
+		        args = new Array(al - 1);
+		        for (j = 1; j < al; j++) { args[j - 1] = arguments$1[j]; }
+		      }
+		      for (i = 0, l = handler.length; i < l; i++) {
+		        this.event = type;
+		        switch (al) {
+		        case 1:
+		          promises.push(handler[i].call(this));
+		          break;
+		        case 2:
+		          promises.push(handler[i].call(this, arguments$1[1]));
+		          break;
+		        case 3:
+		          promises.push(handler[i].call(this, arguments$1[1], arguments$1[2]));
+		          break;
+		        default:
+		          promises.push(handler[i].apply(this, args));
+		        }
+		      }
+		    } else if (!this.ignoreErrors && !this._all && type === 'error') {
+		      if (arguments[1] instanceof Error) {
+		        return Promise.reject(arguments[1]); // Unhandled 'error' event
+		      } else {
+		        return Promise.reject("Uncaught, unspecified 'error' event.");
+		      }
+		    }
+
+		    return Promise.all(promises);
+		  };
+
+		  EventEmitter.prototype.on = function(type, listener, options) {
+		    return this._on(type, listener, false, options);
+		  };
+
+		  EventEmitter.prototype.prependListener = function(type, listener, options) {
+		    return this._on(type, listener, true, options);
+		  };
+
+		  EventEmitter.prototype.onAny = function(fn) {
+		    return this._onAny(fn, false);
+		  };
+
+		  EventEmitter.prototype.prependAny = function(fn) {
+		    return this._onAny(fn, true);
+		  };
+
+		  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
+
+		  EventEmitter.prototype._onAny = function(fn, prepend){
+		    if (typeof fn !== 'function') {
+		      throw new Error('onAny only accepts instances of Function');
+		    }
+
+		    if (!this._all) {
+		      this._all = [];
+		    }
+
+		    // Add the function to the event listener collection.
+		    if(prepend){
+		      this._all.unshift(fn);
+		    }else {
+		      this._all.push(fn);
+		    }
+
+		    return this;
+		  };
+
+		  EventEmitter.prototype._on = function(type, listener, prepend, options) {
+		    if (typeof type === 'function') {
+		      this._onAny(type, listener);
+		      return this;
+		    }
+
+		    if (typeof listener !== 'function') {
+		      throw new Error('on only accepts instances of Function');
+		    }
+		    this._events || init.call(this);
+
+		    var returnValue= this, temp;
+
+		    if (options !== undefined$1) {
+		      temp = setupListener.call(this, type, listener, options);
+		      listener = temp[0];
+		      returnValue = temp[1];
+		    }
+
+		    // To avoid recursion in the case that type == "newListeners"! Before
+		    // adding it to the listeners, first emit "newListeners".
+		    if (this._newListener) {
+		      this.emit('newListener', type, listener);
+		    }
+
+		    if (this.wildcard) {
+		      growListenerTree.call(this, type, listener, prepend);
+		      return returnValue;
+		    }
+
+		    if (!this._events[type]) {
+		      // Optimize the case of one listener. Don't need the extra array object.
+		      this._events[type] = listener;
+		    } else {
+		      if (typeof this._events[type] === 'function') {
+		        // Change to array.
+		        this._events[type] = [this._events[type]];
+		      }
+
+		      // If we've already got an array, just add
+		      if(prepend){
+		        this._events[type].unshift(listener);
+		      }else {
+		        this._events[type].push(listener);
+		      }
+
+		      // Check for listener leak
+		      if (
+		        !this._events[type].warned &&
+		        this._maxListeners > 0 &&
+		        this._events[type].length > this._maxListeners
+		      ) {
+		        this._events[type].warned = true;
+		        logPossibleMemoryLeak.call(this, this._events[type].length, type);
+		      }
+		    }
+
+		    return returnValue;
+		  };
+
+		  EventEmitter.prototype.off = function(type, listener) {
+		    if (typeof listener !== 'function') {
+		      throw new Error('removeListener only takes instances of Function');
+		    }
+
+		    var handlers,leafs=[];
+
+		    if(this.wildcard) {
+		      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+		      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+		      if(!leafs) { return this; }
+		    } else {
+		      // does not use listeners(), so no side effect of creating _events[type]
+		      if (!this._events[type]) { return this; }
+		      handlers = this._events[type];
+		      leafs.push({_listeners:handlers});
+		    }
+
+		    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+		      var leaf = leafs[iLeaf];
+		      handlers = leaf._listeners;
+		      if (isArray(handlers)) {
+
+		        var position = -1;
+
+		        for (var i = 0, length = handlers.length; i < length; i++) {
+		          if (handlers[i] === listener ||
+		            (handlers[i].listener && handlers[i].listener === listener) ||
+		            (handlers[i]._origin && handlers[i]._origin === listener)) {
+		            position = i;
+		            break;
+		          }
+		        }
+
+		        if (position < 0) {
+		          continue;
+		        }
+
+		        if(this.wildcard) {
+		          leaf._listeners.splice(position, 1);
+		        }
+		        else {
+		          this._events[type].splice(position, 1);
+		        }
+
+		        if (handlers.length === 0) {
+		          if(this.wildcard) {
+		            delete leaf._listeners;
+		          }
+		          else {
+		            delete this._events[type];
+		          }
+		        }
+		        if (this._removeListener)
+		          { this.emit("removeListener", type, listener); }
+
+		        return this;
+		      }
+		      else if (handlers === listener ||
+		        (handlers.listener && handlers.listener === listener) ||
+		        (handlers._origin && handlers._origin === listener)) {
+		        if(this.wildcard) {
+		          delete leaf._listeners;
+		        }
+		        else {
+		          delete this._events[type];
+		        }
+		        if (this._removeListener)
+		          { this.emit("removeListener", type, listener); }
+		      }
+		    }
+
+		    this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
+
+		    return this;
+		  };
+
+		  EventEmitter.prototype.offAny = function(fn) {
+		    var i = 0, l = 0, fns;
+		    if (fn && this._all && this._all.length > 0) {
+		      fns = this._all;
+		      for(i = 0, l = fns.length; i < l; i++) {
+		        if(fn === fns[i]) {
+		          fns.splice(i, 1);
+		          if (this._removeListener)
+		            { this.emit("removeListenerAny", fn); }
+		          return this;
+		        }
+		      }
+		    } else {
+		      fns = this._all;
+		      if (this._removeListener) {
+		        for(i = 0, l = fns.length; i < l; i++)
+		          { this.emit("removeListenerAny", fns[i]); }
+		      }
+		      this._all = [];
+		    }
+		    return this;
+		  };
+
+		  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
+
+		  EventEmitter.prototype.removeAllListeners = function (type) {
+		    if (type === undefined$1) {
+		      !this._events || init.call(this);
+		      return this;
+		    }
+
+		    if (this.wildcard) {
+		      var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i;
+		      if (!leafs) { return this; }
+		      for (i = 0; i < leafs.length; i++) {
+		        leaf = leafs[i];
+		        leaf._listeners = null;
+		      }
+		      this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
+		    } else if (this._events) {
+		      this._events[type] = null;
+		    }
+		    return this;
+		  };
+
+		  EventEmitter.prototype.listeners = function (type) {
+		    var _events = this._events;
+		    var keys, listeners, allListeners;
+		    var i;
+		    var listenerTree;
+
+		    if (type === undefined$1) {
+		      if (this.wildcard) {
+		        throw Error('event name required for wildcard emitter');
+		      }
+
+		      if (!_events) {
+		        return [];
+		      }
+
+		      keys = ownKeys(_events);
+		      i = keys.length;
+		      allListeners = [];
+		      while (i-- > 0) {
+		        listeners = _events[keys[i]];
+		        if (typeof listeners === 'function') {
+		          allListeners.push(listeners);
+		        } else {
+		          allListeners.push.apply(allListeners, listeners);
+		        }
+		      }
+		      return allListeners;
+		    } else {
+		      if (this.wildcard) {
+		        listenerTree= this.listenerTree;
+		        if(!listenerTree) { return []; }
+		        var handlers = [];
+		        var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+		        searchListenerTree.call(this, handlers, ns, listenerTree, 0);
+		        return handlers;
+		      }
+
+		      if (!_events) {
+		        return [];
+		      }
+
+		      listeners = _events[type];
+
+		      if (!listeners) {
+		        return [];
+		      }
+		      return typeof listeners === 'function' ? [listeners] : listeners;
+		    }
+		  };
+
+		  EventEmitter.prototype.eventNames = function(nsAsArray){
+		    var _events= this._events;
+		    return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []);
+		  };
+
+		  EventEmitter.prototype.listenerCount = function(type) {
+		    return this.listeners(type).length;
+		  };
+
+		  EventEmitter.prototype.hasListeners = function (type) {
+		    if (this.wildcard) {
+		      var handlers = [];
+		      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+		      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
+		      return handlers.length > 0;
+		    }
+
+		    var _events = this._events;
+		    var _all = this._all;
+
+		    return !!(_all && _all.length || _events && (type === undefined$1 ? ownKeys(_events).length : _events[type]));
+		  };
+
+		  EventEmitter.prototype.listenersAny = function() {
+
+		    if(this._all) {
+		      return this._all;
+		    }
+		    else {
+		      return [];
+		    }
+
+		  };
+
+		  EventEmitter.prototype.waitFor = function (event, options) {
+		    var self = this;
+		    var type = typeof options;
+		    if (type === 'number') {
+		      options = {timeout: options};
+		    } else if (type === 'function') {
+		      options = {filter: options};
+		    }
+
+		    options= resolveOptions(options, {
+		      timeout: 0,
+		      filter: undefined$1,
+		      handleError: false,
+		      Promise: Promise,
+		      overload: false
+		    }, {
+		      filter: functionReducer,
+		      Promise: constructorReducer
+		    });
+
+		    return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) {
+		      function listener() {
+		        var filter= options.filter;
+		        if (filter && !filter.apply(self, arguments)) {
+		          return;
+		        }
+		        self.off(event, listener);
+		        if (options.handleError) {
+		          var err = arguments[0];
+		          err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1));
+		        } else {
+		          resolve(toArray.apply(null, arguments));
+		        }
+		      }
+
+		      onCancel(function(){
+		        self.off(event, listener);
+		      });
+
+		      self._on(event, listener, false);
+		    }, {
+		      timeout: options.timeout,
+		      overload: options.overload
+		    })
+		  };
+
+		  function once(emitter, name, options) {
+		    options= resolveOptions(options, {
+		      Promise: Promise,
+		      timeout: 0,
+		      overload: false
+		    }, {
+		      Promise: constructorReducer
+		    });
+
+		    var _Promise= options.Promise;
+
+		    return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){
+		      var handler;
+		      if (typeof emitter.addEventListener === 'function') {
+		        handler=  function () {
+		          resolve(toArray.apply(null, arguments));
+		        };
+
+		        onCancel(function(){
+		          emitter.removeEventListener(name, handler);
+		        });
+
+		        emitter.addEventListener(
+		            name,
+		            handler,
+		            {once: true}
+		        );
+		        return;
+		      }
+
+		      var eventListener = function(){
+		        errorListener && emitter.removeListener('error', errorListener);
+		        resolve(toArray.apply(null, arguments));
+		      };
+
+		      var errorListener;
+
+		      if (name !== 'error') {
+		        errorListener = function (err){
+		          emitter.removeListener(name, eventListener);
+		          reject(err);
+		        };
+
+		        emitter.once('error', errorListener);
+		      }
+
+		      onCancel(function(){
+		        errorListener && emitter.removeListener('error', errorListener);
+		        emitter.removeListener(name, eventListener);
+		      });
+
+		      emitter.once(name, eventListener);
+		    }, {
+		      timeout: options.timeout,
+		      overload: options.overload
+		    });
+		  }
+
+		  var prototype= EventEmitter.prototype;
+
+		  Object.defineProperties(EventEmitter, {
+		    defaultMaxListeners: {
+		      get: function () {
+		        return prototype._maxListeners;
+		      },
+		      set: function (n) {
+		        if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) {
+		          throw TypeError('n must be a non-negative number')
+		        }
+		        prototype._maxListeners = n;
+		      },
+		      enumerable: true
+		    },
+		    once: {
+		      value: once,
+		      writable: true,
+		      configurable: true
+		    }
+		  });
+
+		  Object.defineProperties(prototype, {
+		      _maxListeners: {
+		          value: defaultMaxListeners,
+		          writable: true,
+		          configurable: true
+		      },
+		      _observers: {value: null, writable: true, configurable: true}
+		  });
+
+		  if (typeof undefined$1 === 'function' && undefined$1.amd) {
+		     // AMD. Register as an anonymous module.
+		    undefined$1(function() {
+		      return EventEmitter;
+		    });
+		  } else {
+		    // CommonJS
+		    module.exports = EventEmitter;
+		  }
+		}(); 
+	} (eventemitter2, eventemitter2.exports));
+	return eventemitter2.exports;
+}
+
+var eventemitter2Exports = requireEventemitter2();
 var EventEmitter2 = /*@__PURE__*/getDefaultExportFromCjs(eventemitter2Exports);
 
 /**
diff --git a/build/ros3d.js b/build/ros3d.js
index 33229259..81e8c5bf 100644
--- a/build/ros3d.js
+++ b/build/ros3d.js
@@ -53329,1627 +53329,1634 @@ var ROS3D = (function (exports, ROSLIB) {
 	 */
 	eventemitter2.exports;
 
-	(function (module, exports) {
+	var hasRequiredEventemitter2;
+
+	function requireEventemitter2 () {
+		if (hasRequiredEventemitter2) return eventemitter2.exports;
+		hasRequiredEventemitter2 = 1;
+		(function (module, exports) {
 	!function(undefined$1) {
-		  var hasOwnProperty= Object.hasOwnProperty;
-		  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
-		    return Object.prototype.toString.call(obj) === "[object Array]";
-		  };
-		  var defaultMaxListeners = 10;
-		  var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function';
-		  var symbolsSupported= typeof Symbol==='function';
-		  var reflectSupported= typeof Reflect === 'object';
-		  var setImmediateSupported= typeof setImmediate === 'function';
-		  var _setImmediate= setImmediateSupported ? setImmediate : setTimeout;
-		  var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){
-		    var arr= Object.getOwnPropertyNames(obj);
-		    arr.push.apply(arr, Object.getOwnPropertySymbols(obj));
-		    return arr;
-		  }) : Object.keys;
-
-		  function init() {
-		    this._events = {};
-		    if (this._conf) {
-		      configure.call(this, this._conf);
-		    }
-		  }
-
-		  function configure(conf) {
-		    if (conf) {
-		      this._conf = conf;
-
-		      conf.delimiter && (this.delimiter = conf.delimiter);
-
-		      if(conf.maxListeners!==undefined$1){
-		          this._maxListeners= conf.maxListeners;
-		      }
-
-		      conf.wildcard && (this.wildcard = conf.wildcard);
-		      conf.newListener && (this._newListener = conf.newListener);
-		      conf.removeListener && (this._removeListener = conf.removeListener);
-		      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
-		      conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors);
-
-		      if (this.wildcard) {
-		        this.listenerTree = {};
-		      }
-		    }
-		  }
-
-		  function logPossibleMemoryLeak(count, eventName) {
-		    var errorMsg = '(node) warning: possible EventEmitter memory ' +
-		        'leak detected. ' + count + ' listeners added. ' +
-		        'Use emitter.setMaxListeners() to increase limit.';
-
-		    if(this.verboseMemoryLeak){
-		      errorMsg += ' Event name: ' + eventName + '.';
-		    }
-
-		    if(typeof process !== 'undefined' && process.emitWarning){
-		      var e = new Error(errorMsg);
-		      e.name = 'MaxListenersExceededWarning';
-		      e.emitter = this;
-		      e.count = count;
-		      process.emitWarning(e);
-		    } else {
-		      console.error(errorMsg);
-
-		      if (console.trace){
-		        console.trace();
-		      }
-		    }
-		  }
-
-		  var toArray = function (a, b, c) {
-		    var n = arguments.length;
-		    switch (n) {
-		      case 0:
-		        return [];
-		      case 1:
-		        return [a];
-		      case 2:
-		        return [a, b];
-		      case 3:
-		        return [a, b, c];
-		      default:
-		        var arr = new Array(n);
-		        while (n--) {
-		          arr[n] = arguments[n];
-		        }
-		        return arr;
-		    }
-		  };
-
-		  function toObject(keys, values) {
-		    var obj = {};
-		    var key;
-		    var len = keys.length;
-		    var valuesCount = values ? value.length : 0;
-		    for (var i = 0; i < len; i++) {
-		      key = keys[i];
-		      obj[key] = i < valuesCount ? values[i] : undefined$1;
-		    }
-		    return obj;
-		  }
-
-		  function TargetObserver(emitter, target, options) {
-		    this._emitter = emitter;
-		    this._target = target;
-		    this._listeners = {};
-		    this._listenersCount = 0;
-
-		    var on, off;
-
-		    if (options.on || options.off) {
-		      on = options.on;
-		      off = options.off;
-		    }
-
-		    if (target.addEventListener) {
-		      on = target.addEventListener;
-		      off = target.removeEventListener;
-		    } else if (target.addListener) {
-		      on = target.addListener;
-		      off = target.removeListener;
-		    } else if (target.on) {
-		      on = target.on;
-		      off = target.off;
-		    }
-
-		    if (!on && !off) {
-		      throw Error('target does not implement any known event API');
-		    }
-
-		    if (typeof on !== 'function') {
-		      throw TypeError('on method must be a function');
-		    }
-
-		    if (typeof off !== 'function') {
-		      throw TypeError('off method must be a function');
-		    }
-
-		    this._on = on;
-		    this._off = off;
-
-		    var _observers= emitter._observers;
-		    if(_observers){
-		      _observers.push(this);
-		    }else {
-		      emitter._observers= [this];
-		    }
-		  }
-
-		  Object.assign(TargetObserver.prototype, {
-		    subscribe: function(event, localEvent, reducer){
-		      var observer= this;
-		      var target= this._target;
-		      var emitter= this._emitter;
-		      var listeners= this._listeners;
-		      var handler= function(){
-		        var args= toArray.apply(null, arguments);
-		        var eventObj= {
-		          data: args,
-		          name: localEvent,
-		          original: event
-		        };
-		        if(reducer){
-		          var result= reducer.call(target, eventObj);
-		          if(result!==false){
-		            emitter.emit.apply(emitter, [eventObj.name].concat(args));
-		          }
-		          return;
-		        }
-		        emitter.emit.apply(emitter, [localEvent].concat(args));
-		      };
-
-
-		      if(listeners[event]){
-		        throw Error('Event \'' + event + '\' is already listening');
-		      }
-
-		      this._listenersCount++;
-
-		      if(emitter._newListener && emitter._removeListener && !observer._onNewListener){
-
-		        this._onNewListener = function (_event) {
-		          if (_event === localEvent && listeners[event] === null) {
-		            listeners[event] = handler;
-		            observer._on.call(target, event, handler);
-		          }
-		        };
-
-		        emitter.on('newListener', this._onNewListener);
-
-		        this._onRemoveListener= function(_event){
-		          if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){
-		            listeners[event]= null;
-		            observer._off.call(target, event, handler);
-		          }
-		        };
-
-		        listeners[event]= null;
-
-		        emitter.on('removeListener', this._onRemoveListener);
-		      }else {
-		        listeners[event]= handler;
-		        observer._on.call(target, event, handler);
-		      }
-		    },
-
-		    unsubscribe: function(event){
-		      var observer= this;
-		      var listeners= this._listeners;
-		      var emitter= this._emitter;
-		      var handler;
-		      var events;
-		      var off= this._off;
-		      var target= this._target;
-		      var i;
-
-		      if(event && typeof event!=='string'){
-		        throw TypeError('event must be a string');
-		      }
-
-		      function clearRefs(){
-		        if(observer._onNewListener){
-		          emitter.off('newListener', observer._onNewListener);
-		          emitter.off('removeListener', observer._onRemoveListener);
-		          observer._onNewListener= null;
-		          observer._onRemoveListener= null;
-		        }
-		        var index= findTargetIndex.call(emitter, observer);
-		        emitter._observers.splice(index, 1);
-		      }
-
-		      if(event){
-		        handler= listeners[event];
-		        if(!handler) return;
-		        off.call(target, event, handler);
-		        delete listeners[event];
-		        if(!--this._listenersCount){
-		          clearRefs();
-		        }
-		      }else {
-		        events= ownKeys(listeners);
-		        i= events.length;
-		        while(i-->0){
-		          event= events[i];
-		          off.call(target, event, listeners[event]);
-		        }
-		        this._listeners= {};
-		        this._listenersCount= 0;
-		        clearRefs();
-		      }
-		    }
-		  });
-
-		  function resolveOptions(options, schema, reducers, allowUnknown) {
-		    var computedOptions = Object.assign({}, schema);
-
-		    if (!options) return computedOptions;
-
-		    if (typeof options !== 'object') {
-		      throw TypeError('options must be an object')
-		    }
-
-		    var keys = Object.keys(options);
-		    var length = keys.length;
-		    var option, value;
-		    var reducer;
-
-		    function reject(reason) {
-		      throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : ''))
-		    }
-
-		    for (var i = 0; i < length; i++) {
-		      option = keys[i];
-		      if (!allowUnknown && !hasOwnProperty.call(schema, option)) {
-		        throw Error('Unknown "' + option + '" option');
-		      }
-		      value = options[option];
-		      if (value !== undefined$1) {
-		        reducer = reducers[option];
-		        computedOptions[option] = reducer ? reducer(value, reject) : value;
-		      }
-		    }
-		    return computedOptions;
-		  }
-
-		  function constructorReducer(value, reject) {
-		    if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) {
-		      reject('value must be a constructor');
-		    }
-		    return value;
-		  }
-
-		  function makeTypeReducer(types) {
-		    var message= 'value must be type of ' + types.join('|');
-		    var len= types.length;
-		    var firstType= types[0];
-		    var secondType= types[1];
-
-		    if (len === 1) {
-		      return function (v, reject) {
-		        if (typeof v === firstType) {
-		          return v;
-		        }
-		        reject(message);
-		      }
-		    }
-
-		    if (len === 2) {
-		      return function (v, reject) {
-		        var kind= typeof v;
-		        if (kind === firstType || kind === secondType) return v;
-		        reject(message);
-		      }
-		    }
-
-		    return function (v, reject) {
-		      var kind = typeof v;
-		      var i = len;
-		      while (i-- > 0) {
-		        if (kind === types[i]) return v;
-		      }
-		      reject(message);
-		    }
-		  }
-
-		  var functionReducer= makeTypeReducer(['function']);
-
-		  var objectFunctionReducer= makeTypeReducer(['object', 'function']);
-
-		  function makeCancelablePromise(Promise, executor, options) {
-		    var isCancelable;
-		    var callbacks;
-		    var timer= 0;
-		    var subscriptionClosed;
-
-		    var promise = new Promise(function (resolve, reject, onCancel) {
-		      options= resolveOptions(options, {
-		        timeout: 0,
-		        overload: false
-		      }, {
-		        timeout: function(value, reject){
-		          value*= 1;
-		          if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) {
-		            reject('timeout must be a positive number');
-		          }
-		          return value;
-		        }
-		      });
-
-		      isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function';
-
-		      function cleanup() {
-		        if (callbacks) {
-		          callbacks = null;
-		        }
-		        if (timer) {
-		          clearTimeout(timer);
-		          timer = 0;
-		        }
-		      }
-
-		      var _resolve= function(value){
-		        cleanup();
-		        resolve(value);
-		      };
-
-		      var _reject= function(err){
-		        cleanup();
-		        reject(err);
-		      };
-
-		      if (isCancelable) {
-		        executor(_resolve, _reject, onCancel);
-		      } else {
-		        callbacks = [function(reason){
-		          _reject(reason || Error('canceled'));
-		        }];
-		        executor(_resolve, _reject, function (cb) {
-		          if (subscriptionClosed) {
-		            throw Error('Unable to subscribe on cancel event asynchronously')
-		          }
-		          if (typeof cb !== 'function') {
-		            throw TypeError('onCancel callback must be a function');
-		          }
-		          callbacks.push(cb);
-		        });
-		        subscriptionClosed= true;
-		      }
-
-		      if (options.timeout > 0) {
-		        timer= setTimeout(function(){
-		          var reason= Error('timeout');
-		          reason.code = 'ETIMEDOUT';
-		          timer= 0;
-		          promise.cancel(reason);
-		          reject(reason);
-		        }, options.timeout);
-		      }
-		    });
-
-		    if (!isCancelable) {
-		      promise.cancel = function (reason) {
-		        if (!callbacks) {
-		          return;
-		        }
-		        var length = callbacks.length;
-		        for (var i = 1; i < length; i++) {
-		          callbacks[i](reason);
-		        }
-		        // internal callback to reject the promise
-		        callbacks[0](reason);
-		        callbacks = null;
-		      };
-		    }
-
-		    return promise;
-		  }
-
-		  function findTargetIndex(observer) {
-		    var observers = this._observers;
-		    if(!observers){
-		      return -1;
-		    }
-		    var len = observers.length;
-		    for (var i = 0; i < len; i++) {
-		      if (observers[i]._target === observer) return i;
-		    }
-		    return -1;
-		  }
-
-		  // Attention, function return type now is array, always !
-		  // It has zero elements if no any matches found and one or more
-		  // elements (leafs) if there are matches
-		  //
-		  function searchListenerTree(handlers, type, tree, i, typeLength) {
-		    if (!tree) {
-		      return null;
-		    }
-
-		    if (i === 0) {
-		      var kind = typeof type;
-		      if (kind === 'string') {
-		        var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length;
-		        if ((n = type.indexOf(delimiter)) !== -1) {
-		          ns = new Array(5);
-		          do {
-		            ns[l++] = type.slice(j, n);
-		            j = n + dl;
-		          } while ((n = type.indexOf(delimiter, j)) !== -1);
-
-		          ns[l++] = type.slice(j);
-		          type = ns;
-		          typeLength = l;
-		        } else {
-		          type = [type];
-		          typeLength = 1;
-		        }
-		      } else if (kind === 'object') {
-		        typeLength = type.length;
-		      } else {
-		        type = [type];
-		        typeLength = 1;
-		      }
-		    }
-
-		    var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
-		        nextType = type[i + 1], branches, _listeners;
-
-		    if (i === typeLength) {
-		      //
-		      // If at the end of the event(s) list and the tree has listeners
-		      // invoke those listeners.
-		      //
-
-		      if(tree._listeners) {
-		        if (typeof tree._listeners === 'function') {
-		          handlers && handlers.push(tree._listeners);
-		          listeners = [tree];
-		        } else {
-		          handlers && handlers.push.apply(handlers, tree._listeners);
-		          listeners = [tree];
-		        }
-		      }
-		    } else {
-
-		      if (currentType === '*') {
-		        //
-		        // If the event emitted is '*' at this part
-		        // or there is a concrete match at this patch
-		        //
-		        branches = ownKeys(tree);
-		        n = branches.length;
-		        while (n-- > 0) {
-		          branch = branches[n];
-		          if (branch !== '_listeners') {
-		            _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
-		            if (_listeners) {
-		              if (listeners) {
-		                listeners.push.apply(listeners, _listeners);
-		              } else {
-		                listeners = _listeners;
-		              }
-		            }
-		          }
-		        }
-		        return listeners;
-		      } else if (currentType === '**') {
-		        endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
-		        if (endReached && tree._listeners) {
-		          // The next element has a _listeners, add it to the handlers.
-		          listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
-		        }
-
-		        branches = ownKeys(tree);
-		        n = branches.length;
-		        while (n-- > 0) {
-		          branch = branches[n];
-		          if (branch !== '_listeners') {
-		            if (branch === '*' || branch === '**') {
-		              if (tree[branch]._listeners && !endReached) {
-		                _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
-		                if (_listeners) {
-		                  if (listeners) {
-		                    listeners.push.apply(listeners, _listeners);
-		                  } else {
-		                    listeners = _listeners;
-		                  }
-		                }
-		              }
-		              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
-		            } else if (branch === nextType) {
-		              _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
-		            } else {
-		              // No match on this one, shift into the tree but not in the type array.
-		              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
-		            }
-		            if (_listeners) {
-		              if (listeners) {
-		                listeners.push.apply(listeners, _listeners);
-		              } else {
-		                listeners = _listeners;
-		              }
-		            }
-		          }
-		        }
-		        return listeners;
-		      } else if (tree[currentType]) {
-		        listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
-		      }
-		    }
-
-		      xTree = tree['*'];
-		    if (xTree) {
-		      //
-		      // If the listener tree will allow any match for this part,
-		      // then recursively explore all branches of the tree
-		      //
-		      searchListenerTree(handlers, type, xTree, i + 1, typeLength);
-		    }
-
-		    xxTree = tree['**'];
-		    if (xxTree) {
-		      if (i < typeLength) {
-		        if (xxTree._listeners) {
-		          // If we have a listener on a '**', it will catch all, so add its handler.
-		          searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
-		        }
-
-		        // Build arrays of matching next branches and others.
-		        branches= ownKeys(xxTree);
-		        n= branches.length;
-		        while(n-->0){
-		          branch= branches[n];
-		          if (branch !== '_listeners') {
-		            if (branch === nextType) {
-		              // We know the next element will match, so jump twice.
-		              searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength);
-		            } else if (branch === currentType) {
-		              // Current node matches, move into the tree.
-		              searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength);
-		            } else {
-		              isolatedBranch = {};
-		              isolatedBranch[branch] = xxTree[branch];
-		              searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength);
-		            }
-		          }
-		        }
-		      } else if (xxTree._listeners) {
-		        // We have reached the end and still on a '**'
-		        searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
-		      } else if (xxTree['*'] && xxTree['*']._listeners) {
-		        searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength);
-		      }
-		    }
-
-		    return listeners;
-		  }
-
-		  function growListenerTree(type, listener, prepend) {
-		    var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns;
-
-		    if(typeof type==='string') {
-		      if ((i = type.indexOf(delimiter)) !== -1) {
-		        ns = new Array(5);
-		        do {
-		          ns[len++] = type.slice(j, i);
-		          j = i + dl;
-		        } while ((i = type.indexOf(delimiter, j)) !== -1);
-
-		        ns[len++] = type.slice(j);
-		      }else {
-		        ns= [type];
-		        len= 1;
-		      }
-		    }else {
-		      ns= type;
-		      len= type.length;
-		    }
-
-		    //
-		    // Looks for two consecutive '**', if so, don't add the event at all.
-		    //
-		    if (len > 1) {
-		      for (i = 0; i + 1 < len; i++) {
-		        if (ns[i] === '**' && ns[i + 1] === '**') {
-		          return;
-		        }
-		      }
-		    }
-
-
-
-		    var tree = this.listenerTree, name;
-
-		    for (i = 0; i < len; i++) {
-		      name = ns[i];
-
-		      tree = tree[name] || (tree[name] = {});
-
-		      if (i === len - 1) {
-		        if (!tree._listeners) {
-		          tree._listeners = listener;
-		        } else {
-		          if (typeof tree._listeners === 'function') {
-		            tree._listeners = [tree._listeners];
-		          }
-
-		          if (prepend) {
-		            tree._listeners.unshift(listener);
-		          } else {
-		            tree._listeners.push(listener);
-		          }
-
-		          if (
-		              !tree._listeners.warned &&
-		              this._maxListeners > 0 &&
-		              tree._listeners.length > this._maxListeners
-		          ) {
-		            tree._listeners.warned = true;
-		            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
-		          }
-		        }
-		        return true;
-		      }
-		    }
-
-		    return true;
-		  }
-
-		  function collectTreeEvents(tree, events, root, asArray){
-		     var branches= ownKeys(tree);
-		     var i= branches.length;
-		     var branch, branchName, path;
-		     var hasListeners= tree['_listeners'];
-		     var isArrayPath;
-
-		     while(i-->0){
-		         branchName= branches[i];
-
-		         branch= tree[branchName];
-
-		         if(branchName==='_listeners'){
-		             path= root;
-		         }else {
-		             path = root ? root.concat(branchName) : [branchName];
-		         }
-
-		         isArrayPath= asArray || typeof branchName==='symbol';
-
-		         hasListeners && events.push(isArrayPath? path : path.join(this.delimiter));
-
-		         if(typeof branch==='object'){
-		             collectTreeEvents.call(this, branch, events, path, isArrayPath);
-		         }
-		     }
-
-		     return events;
-		  }
-
-		  function recursivelyGarbageCollect(root) {
-		    var keys = ownKeys(root);
-		    var i= keys.length;
-		    var obj, key, flag;
-		    while(i-->0){
-		      key = keys[i];
-		      obj = root[key];
-
-		      if(obj){
-		          flag= true;
-		          if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){
-		             delete root[key];
-		          }
-		      }
-		    }
-
-		    return flag;
-		  }
-
-		  function Listener(emitter, event, listener){
-		    this.emitter= emitter;
-		    this.event= event;
-		    this.listener= listener;
-		  }
-
-		  Listener.prototype.off= function(){
-		    this.emitter.off(this.event, this.listener);
-		    return this;
-		  };
-
-		  function setupListener(event, listener, options){
-		      if (options === true) {
-		        promisify = true;
-		      } else if (options === false) {
-		        async = true;
-		      } else {
-		        if (!options || typeof options !== 'object') {
-		          throw TypeError('options should be an object or true');
-		        }
-		        var async = options.async;
-		        var promisify = options.promisify;
-		        var nextTick = options.nextTick;
-		        var objectify = options.objectify;
-		      }
-
-		      if (async || nextTick || promisify) {
-		        var _listener = listener;
-		        var _origin = listener._origin || listener;
-
-		        if (nextTick && !nextTickSupported) {
-		          throw Error('process.nextTick is not supported');
-		        }
-
-		        if (promisify === undefined$1) {
-		          promisify = listener.constructor.name === 'AsyncFunction';
-		        }
-
-		        listener = function () {
-		          var args = arguments;
-		          var context = this;
-		          var event = this.event;
-
-		          return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) {
-		            _setImmediate(resolve);
-		          }).then(function () {
-		            context.event = event;
-		            return _listener.apply(context, args)
-		          })) : (nextTick ? process.nextTick : _setImmediate)(function () {
-		            context.event = event;
-		            _listener.apply(context, args);
-		          });
-		        };
-
-		        listener._async = true;
-		        listener._origin = _origin;
-		      }
-
-		    return [listener, objectify? new Listener(this, event, listener): this];
-		  }
-
-		  function EventEmitter(conf) {
-		    this._events = {};
-		    this._newListener = false;
-		    this._removeListener = false;
-		    this.verboseMemoryLeak = false;
-		    configure.call(this, conf);
-		  }
-
-		  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
-
-		  EventEmitter.prototype.listenTo= function(target, events, options){
-		    if(typeof target!=='object'){
-		      throw TypeError('target musts be an object');
-		    }
-
-		    var emitter= this;
-
-		    options = resolveOptions(options, {
-		      on: undefined$1,
-		      off: undefined$1,
-		      reducers: undefined$1
-		    }, {
-		      on: functionReducer,
-		      off: functionReducer,
-		      reducers: objectFunctionReducer
-		    });
-
-		    function listen(events){
-		      if(typeof events!=='object'){
-		        throw TypeError('events must be an object');
-		      }
-
-		      var reducers= options.reducers;
-		      var index= findTargetIndex.call(emitter, target);
-		      var observer;
-
-		      if(index===-1){
-		        observer= new TargetObserver(emitter, target, options);
-		      }else {
-		        observer= emitter._observers[index];
-		      }
-
-		      var keys= ownKeys(events);
-		      var len= keys.length;
-		      var event;
-		      var isSingleReducer= typeof reducers==='function';
-
-		      for(var i=0; i<len; i++){
-		        event= keys[i];
-		        observer.subscribe(
-		            event,
-		            events[event] || event,
-		            isSingleReducer ? reducers : reducers && reducers[event]
-		        );
-		      }
-		    }
-
-		    isArray(events)?
-		        listen(toObject(events)) :
-		        (typeof events==='string'? listen(toObject(events.split(/\s+/))): listen(events));
-
-		    return this;
-		  };
-
-		  EventEmitter.prototype.stopListeningTo = function (target, event) {
-		    var observers = this._observers;
-
-		    if(!observers){
-		      return false;
-		    }
-
-		    var i = observers.length;
-		    var observer;
-		    var matched= false;
-
-		    if(target && typeof target!=='object'){
-		      throw TypeError('target should be an object');
-		    }
-
-		    while (i-- > 0) {
-		      observer = observers[i];
-		      if (!target || observer._target === target) {
-		        observer.unsubscribe(event);
-		        matched= true;
-		      }
-		    }
-
-		    return matched;
-		  };
-
-		  // By default EventEmitters will print a warning if more than
-		  // 10 listeners are added to it. This is a useful default which
-		  // helps finding memory leaks.
-		  //
-		  // Obviously not all Emitters should be limited to 10. This function allows
-		  // that to be increased. Set to zero for unlimited.
-
-		  EventEmitter.prototype.delimiter = '.';
-
-		  EventEmitter.prototype.setMaxListeners = function(n) {
-		    if (n !== undefined$1) {
-		      this._maxListeners = n;
-		      if (!this._conf) this._conf = {};
-		      this._conf.maxListeners = n;
-		    }
-		  };
-
-		  EventEmitter.prototype.getMaxListeners = function() {
-		    return this._maxListeners;
-		  };
-
-		  EventEmitter.prototype.event = '';
-
-		  EventEmitter.prototype.once = function(event, fn, options) {
-		    return this._once(event, fn, false, options);
-		  };
-
-		  EventEmitter.prototype.prependOnceListener = function(event, fn, options) {
-		    return this._once(event, fn, true, options);
-		  };
-
-		  EventEmitter.prototype._once = function(event, fn, prepend, options) {
-		    return this._many(event, 1, fn, prepend, options);
-		  };
-
-		  EventEmitter.prototype.many = function(event, ttl, fn, options) {
-		    return this._many(event, ttl, fn, false, options);
-		  };
-
-		  EventEmitter.prototype.prependMany = function(event, ttl, fn, options) {
-		    return this._many(event, ttl, fn, true, options);
-		  };
-
-		  EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) {
-		    var self = this;
-
-		    if (typeof fn !== 'function') {
-		      throw new Error('many only accepts instances of Function');
-		    }
-
-		    function listener() {
-		      if (--ttl === 0) {
-		        self.off(event, listener);
-		      }
-		      return fn.apply(this, arguments);
-		    }
-
-		    listener._origin = fn;
-
-		    return this._on(event, listener, prepend, options);
-		  };
-
-		  EventEmitter.prototype.emit = function() {
-		    if (!this._events && !this._all) {
-		      return false;
-		    }
-
-		    this._events || init.call(this);
-
-		    var type = arguments[0], ns, wildcard= this.wildcard;
-		    var args,l,i,j, containsSymbol;
-
-		    if (type === 'newListener' && !this._newListener) {
-		      if (!this._events.newListener) {
-		        return false;
-		      }
-		    }
-
-		    if (wildcard) {
-		      ns= type;
-		      if(type!=='newListener' && type!=='removeListener'){
-		        if (typeof type === 'object') {
-		          l = type.length;
-		          if (symbolsSupported) {
-		            for (i = 0; i < l; i++) {
-		              if (typeof type[i] === 'symbol') {
-		                containsSymbol = true;
-		                break;
-		              }
-		            }
-		          }
-		          if (!containsSymbol) {
-		            type = type.join(this.delimiter);
-		          }
-		        }
-		      }
-		    }
-
-		    var al = arguments.length;
-		    var handler;
-
-		    if (this._all && this._all.length) {
-		      handler = this._all.slice();
-
-		      for (i = 0, l = handler.length; i < l; i++) {
-		        this.event = type;
-		        switch (al) {
-		        case 1:
-		          handler[i].call(this, type);
-		          break;
-		        case 2:
-		          handler[i].call(this, type, arguments[1]);
-		          break;
-		        case 3:
-		          handler[i].call(this, type, arguments[1], arguments[2]);
-		          break;
-		        default:
-		          handler[i].apply(this, arguments);
-		        }
-		      }
-		    }
-
-		    if (wildcard) {
-		      handler = [];
-		      searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l);
-		    } else {
-		      handler = this._events[type];
-		      if (typeof handler === 'function') {
-		        this.event = type;
-		        switch (al) {
-		        case 1:
-		          handler.call(this);
-		          break;
-		        case 2:
-		          handler.call(this, arguments[1]);
-		          break;
-		        case 3:
-		          handler.call(this, arguments[1], arguments[2]);
-		          break;
-		        default:
-		          args = new Array(al - 1);
-		          for (j = 1; j < al; j++) args[j - 1] = arguments[j];
-		          handler.apply(this, args);
-		        }
-		        return true;
-		      } else if (handler) {
-		        // need to make copy of handlers because list can change in the middle
-		        // of emit call
-		        handler = handler.slice();
-		      }
-		    }
-
-		    if (handler && handler.length) {
-		      if (al > 3) {
-		        args = new Array(al - 1);
-		        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
-		      }
-		      for (i = 0, l = handler.length; i < l; i++) {
-		        this.event = type;
-		        switch (al) {
-		        case 1:
-		          handler[i].call(this);
-		          break;
-		        case 2:
-		          handler[i].call(this, arguments[1]);
-		          break;
-		        case 3:
-		          handler[i].call(this, arguments[1], arguments[2]);
-		          break;
-		        default:
-		          handler[i].apply(this, args);
-		        }
-		      }
-		      return true;
-		    } else if (!this.ignoreErrors && !this._all && type === 'error') {
-		      if (arguments[1] instanceof Error) {
-		        throw arguments[1]; // Unhandled 'error' event
-		      } else {
-		        throw new Error("Uncaught, unspecified 'error' event.");
-		      }
-		    }
-
-		    return !!this._all;
-		  };
-
-		  EventEmitter.prototype.emitAsync = function() {
-		    if (!this._events && !this._all) {
-		      return false;
-		    }
-
-		    this._events || init.call(this);
-
-		    var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol;
-		    var args,l,i,j;
-
-		    if (type === 'newListener' && !this._newListener) {
-		        if (!this._events.newListener) { return Promise.resolve([false]); }
-		    }
-
-		    if (wildcard) {
-		      ns= type;
-		      if(type!=='newListener' && type!=='removeListener'){
-		        if (typeof type === 'object') {
-		          l = type.length;
-		          if (symbolsSupported) {
-		            for (i = 0; i < l; i++) {
-		              if (typeof type[i] === 'symbol') {
-		                containsSymbol = true;
-		                break;
-		              }
-		            }
-		          }
-		          if (!containsSymbol) {
-		            type = type.join(this.delimiter);
-		          }
-		        }
-		      }
-		    }
-
-		    var promises= [];
-
-		    var al = arguments.length;
-		    var handler;
-
-		    if (this._all) {
-		      for (i = 0, l = this._all.length; i < l; i++) {
-		        this.event = type;
-		        switch (al) {
-		        case 1:
-		          promises.push(this._all[i].call(this, type));
-		          break;
-		        case 2:
-		          promises.push(this._all[i].call(this, type, arguments[1]));
-		          break;
-		        case 3:
-		          promises.push(this._all[i].call(this, type, arguments[1], arguments[2]));
-		          break;
-		        default:
-		          promises.push(this._all[i].apply(this, arguments));
-		        }
-		      }
-		    }
-
-		    if (wildcard) {
-		      handler = [];
-		      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
-		    } else {
-		      handler = this._events[type];
-		    }
-
-		    if (typeof handler === 'function') {
-		      this.event = type;
-		      switch (al) {
-		      case 1:
-		        promises.push(handler.call(this));
-		        break;
-		      case 2:
-		        promises.push(handler.call(this, arguments[1]));
-		        break;
-		      case 3:
-		        promises.push(handler.call(this, arguments[1], arguments[2]));
-		        break;
-		      default:
-		        args = new Array(al - 1);
-		        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
-		        promises.push(handler.apply(this, args));
-		      }
-		    } else if (handler && handler.length) {
-		      handler = handler.slice();
-		      if (al > 3) {
-		        args = new Array(al - 1);
-		        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
-		      }
-		      for (i = 0, l = handler.length; i < l; i++) {
-		        this.event = type;
-		        switch (al) {
-		        case 1:
-		          promises.push(handler[i].call(this));
-		          break;
-		        case 2:
-		          promises.push(handler[i].call(this, arguments[1]));
-		          break;
-		        case 3:
-		          promises.push(handler[i].call(this, arguments[1], arguments[2]));
-		          break;
-		        default:
-		          promises.push(handler[i].apply(this, args));
-		        }
-		      }
-		    } else if (!this.ignoreErrors && !this._all && type === 'error') {
-		      if (arguments[1] instanceof Error) {
-		        return Promise.reject(arguments[1]); // Unhandled 'error' event
-		      } else {
-		        return Promise.reject("Uncaught, unspecified 'error' event.");
-		      }
-		    }
-
-		    return Promise.all(promises);
-		  };
-
-		  EventEmitter.prototype.on = function(type, listener, options) {
-		    return this._on(type, listener, false, options);
-		  };
-
-		  EventEmitter.prototype.prependListener = function(type, listener, options) {
-		    return this._on(type, listener, true, options);
-		  };
-
-		  EventEmitter.prototype.onAny = function(fn) {
-		    return this._onAny(fn, false);
-		  };
-
-		  EventEmitter.prototype.prependAny = function(fn) {
-		    return this._onAny(fn, true);
-		  };
-
-		  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
-
-		  EventEmitter.prototype._onAny = function(fn, prepend){
-		    if (typeof fn !== 'function') {
-		      throw new Error('onAny only accepts instances of Function');
-		    }
-
-		    if (!this._all) {
-		      this._all = [];
-		    }
-
-		    // Add the function to the event listener collection.
-		    if(prepend){
-		      this._all.unshift(fn);
-		    }else {
-		      this._all.push(fn);
-		    }
-
-		    return this;
-		  };
-
-		  EventEmitter.prototype._on = function(type, listener, prepend, options) {
-		    if (typeof type === 'function') {
-		      this._onAny(type, listener);
-		      return this;
-		    }
-
-		    if (typeof listener !== 'function') {
-		      throw new Error('on only accepts instances of Function');
-		    }
-		    this._events || init.call(this);
-
-		    var returnValue= this, temp;
-
-		    if (options !== undefined$1) {
-		      temp = setupListener.call(this, type, listener, options);
-		      listener = temp[0];
-		      returnValue = temp[1];
-		    }
-
-		    // To avoid recursion in the case that type == "newListeners"! Before
-		    // adding it to the listeners, first emit "newListeners".
-		    if (this._newListener) {
-		      this.emit('newListener', type, listener);
-		    }
-
-		    if (this.wildcard) {
-		      growListenerTree.call(this, type, listener, prepend);
-		      return returnValue;
-		    }
-
-		    if (!this._events[type]) {
-		      // Optimize the case of one listener. Don't need the extra array object.
-		      this._events[type] = listener;
-		    } else {
-		      if (typeof this._events[type] === 'function') {
-		        // Change to array.
-		        this._events[type] = [this._events[type]];
-		      }
-
-		      // If we've already got an array, just add
-		      if(prepend){
-		        this._events[type].unshift(listener);
-		      }else {
-		        this._events[type].push(listener);
-		      }
-
-		      // Check for listener leak
-		      if (
-		        !this._events[type].warned &&
-		        this._maxListeners > 0 &&
-		        this._events[type].length > this._maxListeners
-		      ) {
-		        this._events[type].warned = true;
-		        logPossibleMemoryLeak.call(this, this._events[type].length, type);
-		      }
-		    }
-
-		    return returnValue;
-		  };
-
-		  EventEmitter.prototype.off = function(type, listener) {
-		    if (typeof listener !== 'function') {
-		      throw new Error('removeListener only takes instances of Function');
-		    }
-
-		    var handlers,leafs=[];
-
-		    if(this.wildcard) {
-		      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-		      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
-		      if(!leafs) return this;
-		    } else {
-		      // does not use listeners(), so no side effect of creating _events[type]
-		      if (!this._events[type]) return this;
-		      handlers = this._events[type];
-		      leafs.push({_listeners:handlers});
-		    }
-
-		    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
-		      var leaf = leafs[iLeaf];
-		      handlers = leaf._listeners;
-		      if (isArray(handlers)) {
-
-		        var position = -1;
-
-		        for (var i = 0, length = handlers.length; i < length; i++) {
-		          if (handlers[i] === listener ||
-		            (handlers[i].listener && handlers[i].listener === listener) ||
-		            (handlers[i]._origin && handlers[i]._origin === listener)) {
-		            position = i;
-		            break;
-		          }
-		        }
-
-		        if (position < 0) {
-		          continue;
-		        }
-
-		        if(this.wildcard) {
-		          leaf._listeners.splice(position, 1);
-		        }
-		        else {
-		          this._events[type].splice(position, 1);
-		        }
-
-		        if (handlers.length === 0) {
-		          if(this.wildcard) {
-		            delete leaf._listeners;
-		          }
-		          else {
-		            delete this._events[type];
-		          }
-		        }
-		        if (this._removeListener)
-		          this.emit("removeListener", type, listener);
-
-		        return this;
-		      }
-		      else if (handlers === listener ||
-		        (handlers.listener && handlers.listener === listener) ||
-		        (handlers._origin && handlers._origin === listener)) {
-		        if(this.wildcard) {
-		          delete leaf._listeners;
-		        }
-		        else {
-		          delete this._events[type];
-		        }
-		        if (this._removeListener)
-		          this.emit("removeListener", type, listener);
-		      }
-		    }
-
-		    this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
-
-		    return this;
-		  };
-
-		  EventEmitter.prototype.offAny = function(fn) {
-		    var i = 0, l = 0, fns;
-		    if (fn && this._all && this._all.length > 0) {
-		      fns = this._all;
-		      for(i = 0, l = fns.length; i < l; i++) {
-		        if(fn === fns[i]) {
-		          fns.splice(i, 1);
-		          if (this._removeListener)
-		            this.emit("removeListenerAny", fn);
-		          return this;
-		        }
-		      }
-		    } else {
-		      fns = this._all;
-		      if (this._removeListener) {
-		        for(i = 0, l = fns.length; i < l; i++)
-		          this.emit("removeListenerAny", fns[i]);
-		      }
-		      this._all = [];
-		    }
-		    return this;
-		  };
-
-		  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
-
-		  EventEmitter.prototype.removeAllListeners = function (type) {
-		    if (type === undefined$1) {
-		      !this._events || init.call(this);
-		      return this;
-		    }
-
-		    if (this.wildcard) {
-		      var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i;
-		      if (!leafs) return this;
-		      for (i = 0; i < leafs.length; i++) {
-		        leaf = leafs[i];
-		        leaf._listeners = null;
-		      }
-		      this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
-		    } else if (this._events) {
-		      this._events[type] = null;
-		    }
-		    return this;
-		  };
-
-		  EventEmitter.prototype.listeners = function (type) {
-		    var _events = this._events;
-		    var keys, listeners, allListeners;
-		    var i;
-		    var listenerTree;
-
-		    if (type === undefined$1) {
-		      if (this.wildcard) {
-		        throw Error('event name required for wildcard emitter');
-		      }
-
-		      if (!_events) {
-		        return [];
-		      }
-
-		      keys = ownKeys(_events);
-		      i = keys.length;
-		      allListeners = [];
-		      while (i-- > 0) {
-		        listeners = _events[keys[i]];
-		        if (typeof listeners === 'function') {
-		          allListeners.push(listeners);
-		        } else {
-		          allListeners.push.apply(allListeners, listeners);
-		        }
-		      }
-		      return allListeners;
-		    } else {
-		      if (this.wildcard) {
-		        listenerTree= this.listenerTree;
-		        if(!listenerTree) return [];
-		        var handlers = [];
-		        var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-		        searchListenerTree.call(this, handlers, ns, listenerTree, 0);
-		        return handlers;
-		      }
-
-		      if (!_events) {
-		        return [];
-		      }
-
-		      listeners = _events[type];
-
-		      if (!listeners) {
-		        return [];
-		      }
-		      return typeof listeners === 'function' ? [listeners] : listeners;
-		    }
-		  };
-
-		  EventEmitter.prototype.eventNames = function(nsAsArray){
-		    var _events= this._events;
-		    return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []);
-		  };
-
-		  EventEmitter.prototype.listenerCount = function(type) {
-		    return this.listeners(type).length;
-		  };
-
-		  EventEmitter.prototype.hasListeners = function (type) {
-		    if (this.wildcard) {
-		      var handlers = [];
-		      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-		      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
-		      return handlers.length > 0;
-		    }
-
-		    var _events = this._events;
-		    var _all = this._all;
-
-		    return !!(_all && _all.length || _events && (type === undefined$1 ? ownKeys(_events).length : _events[type]));
-		  };
-
-		  EventEmitter.prototype.listenersAny = function() {
-
-		    if(this._all) {
-		      return this._all;
-		    }
-		    else {
-		      return [];
-		    }
-
-		  };
-
-		  EventEmitter.prototype.waitFor = function (event, options) {
-		    var self = this;
-		    var type = typeof options;
-		    if (type === 'number') {
-		      options = {timeout: options};
-		    } else if (type === 'function') {
-		      options = {filter: options};
-		    }
-
-		    options= resolveOptions(options, {
-		      timeout: 0,
-		      filter: undefined$1,
-		      handleError: false,
-		      Promise: Promise,
-		      overload: false
-		    }, {
-		      filter: functionReducer,
-		      Promise: constructorReducer
-		    });
-
-		    return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) {
-		      function listener() {
-		        var filter= options.filter;
-		        if (filter && !filter.apply(self, arguments)) {
-		          return;
-		        }
-		        self.off(event, listener);
-		        if (options.handleError) {
-		          var err = arguments[0];
-		          err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1));
-		        } else {
-		          resolve(toArray.apply(null, arguments));
-		        }
-		      }
-
-		      onCancel(function(){
-		        self.off(event, listener);
-		      });
-
-		      self._on(event, listener, false);
-		    }, {
-		      timeout: options.timeout,
-		      overload: options.overload
-		    })
-		  };
-
-		  function once(emitter, name, options) {
-		    options= resolveOptions(options, {
-		      Promise: Promise,
-		      timeout: 0,
-		      overload: false
-		    }, {
-		      Promise: constructorReducer
-		    });
-
-		    var _Promise= options.Promise;
-
-		    return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){
-		      var handler;
-		      if (typeof emitter.addEventListener === 'function') {
-		        handler=  function () {
-		          resolve(toArray.apply(null, arguments));
-		        };
-
-		        onCancel(function(){
-		          emitter.removeEventListener(name, handler);
-		        });
-
-		        emitter.addEventListener(
-		            name,
-		            handler,
-		            {once: true}
-		        );
-		        return;
-		      }
-
-		      var eventListener = function(){
-		        errorListener && emitter.removeListener('error', errorListener);
-		        resolve(toArray.apply(null, arguments));
-		      };
-
-		      var errorListener;
-
-		      if (name !== 'error') {
-		        errorListener = function (err){
-		          emitter.removeListener(name, eventListener);
-		          reject(err);
-		        };
-
-		        emitter.once('error', errorListener);
-		      }
-
-		      onCancel(function(){
-		        errorListener && emitter.removeListener('error', errorListener);
-		        emitter.removeListener(name, eventListener);
-		      });
-
-		      emitter.once(name, eventListener);
-		    }, {
-		      timeout: options.timeout,
-		      overload: options.overload
-		    });
-		  }
-
-		  var prototype= EventEmitter.prototype;
-
-		  Object.defineProperties(EventEmitter, {
-		    defaultMaxListeners: {
-		      get: function () {
-		        return prototype._maxListeners;
-		      },
-		      set: function (n) {
-		        if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) {
-		          throw TypeError('n must be a non-negative number')
-		        }
-		        prototype._maxListeners = n;
-		      },
-		      enumerable: true
-		    },
-		    once: {
-		      value: once,
-		      writable: true,
-		      configurable: true
-		    }
-		  });
-
-		  Object.defineProperties(prototype, {
-		      _maxListeners: {
-		          value: defaultMaxListeners,
-		          writable: true,
-		          configurable: true
-		      },
-		      _observers: {value: null, writable: true, configurable: true}
-		  });
-
-		  if (typeof undefined$1 === 'function' && undefined$1.amd) {
-		     // AMD. Register as an anonymous module.
-		    undefined$1(function() {
-		      return EventEmitter;
-		    });
-		  } else {
-		    // CommonJS
-		    module.exports = EventEmitter;
-		  }
-		}(); 
-	} (eventemitter2, eventemitter2.exports));
-
-	var eventemitter2Exports = eventemitter2.exports;
+			  var hasOwnProperty= Object.hasOwnProperty;
+			  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
+			    return Object.prototype.toString.call(obj) === "[object Array]";
+			  };
+			  var defaultMaxListeners = 10;
+			  var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function';
+			  var symbolsSupported= typeof Symbol==='function';
+			  var reflectSupported= typeof Reflect === 'object';
+			  var setImmediateSupported= typeof setImmediate === 'function';
+			  var _setImmediate= setImmediateSupported ? setImmediate : setTimeout;
+			  var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){
+			    var arr= Object.getOwnPropertyNames(obj);
+			    arr.push.apply(arr, Object.getOwnPropertySymbols(obj));
+			    return arr;
+			  }) : Object.keys;
+
+			  function init() {
+			    this._events = {};
+			    if (this._conf) {
+			      configure.call(this, this._conf);
+			    }
+			  }
+
+			  function configure(conf) {
+			    if (conf) {
+			      this._conf = conf;
+
+			      conf.delimiter && (this.delimiter = conf.delimiter);
+
+			      if(conf.maxListeners!==undefined$1){
+			          this._maxListeners= conf.maxListeners;
+			      }
+
+			      conf.wildcard && (this.wildcard = conf.wildcard);
+			      conf.newListener && (this._newListener = conf.newListener);
+			      conf.removeListener && (this._removeListener = conf.removeListener);
+			      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
+			      conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors);
+
+			      if (this.wildcard) {
+			        this.listenerTree = {};
+			      }
+			    }
+			  }
+
+			  function logPossibleMemoryLeak(count, eventName) {
+			    var errorMsg = '(node) warning: possible EventEmitter memory ' +
+			        'leak detected. ' + count + ' listeners added. ' +
+			        'Use emitter.setMaxListeners() to increase limit.';
+
+			    if(this.verboseMemoryLeak){
+			      errorMsg += ' Event name: ' + eventName + '.';
+			    }
+
+			    if(typeof process !== 'undefined' && process.emitWarning){
+			      var e = new Error(errorMsg);
+			      e.name = 'MaxListenersExceededWarning';
+			      e.emitter = this;
+			      e.count = count;
+			      process.emitWarning(e);
+			    } else {
+			      console.error(errorMsg);
+
+			      if (console.trace){
+			        console.trace();
+			      }
+			    }
+			  }
+
+			  var toArray = function (a, b, c) {
+			    var n = arguments.length;
+			    switch (n) {
+			      case 0:
+			        return [];
+			      case 1:
+			        return [a];
+			      case 2:
+			        return [a, b];
+			      case 3:
+			        return [a, b, c];
+			      default:
+			        var arr = new Array(n);
+			        while (n--) {
+			          arr[n] = arguments[n];
+			        }
+			        return arr;
+			    }
+			  };
+
+			  function toObject(keys, values) {
+			    var obj = {};
+			    var key;
+			    var len = keys.length;
+			    var valuesCount = values ? value.length : 0;
+			    for (var i = 0; i < len; i++) {
+			      key = keys[i];
+			      obj[key] = i < valuesCount ? values[i] : undefined$1;
+			    }
+			    return obj;
+			  }
+
+			  function TargetObserver(emitter, target, options) {
+			    this._emitter = emitter;
+			    this._target = target;
+			    this._listeners = {};
+			    this._listenersCount = 0;
+
+			    var on, off;
+
+			    if (options.on || options.off) {
+			      on = options.on;
+			      off = options.off;
+			    }
+
+			    if (target.addEventListener) {
+			      on = target.addEventListener;
+			      off = target.removeEventListener;
+			    } else if (target.addListener) {
+			      on = target.addListener;
+			      off = target.removeListener;
+			    } else if (target.on) {
+			      on = target.on;
+			      off = target.off;
+			    }
+
+			    if (!on && !off) {
+			      throw Error('target does not implement any known event API');
+			    }
+
+			    if (typeof on !== 'function') {
+			      throw TypeError('on method must be a function');
+			    }
+
+			    if (typeof off !== 'function') {
+			      throw TypeError('off method must be a function');
+			    }
+
+			    this._on = on;
+			    this._off = off;
+
+			    var _observers= emitter._observers;
+			    if(_observers){
+			      _observers.push(this);
+			    }else {
+			      emitter._observers= [this];
+			    }
+			  }
+
+			  Object.assign(TargetObserver.prototype, {
+			    subscribe: function(event, localEvent, reducer){
+			      var observer= this;
+			      var target= this._target;
+			      var emitter= this._emitter;
+			      var listeners= this._listeners;
+			      var handler= function(){
+			        var args= toArray.apply(null, arguments);
+			        var eventObj= {
+			          data: args,
+			          name: localEvent,
+			          original: event
+			        };
+			        if(reducer){
+			          var result= reducer.call(target, eventObj);
+			          if(result!==false){
+			            emitter.emit.apply(emitter, [eventObj.name].concat(args));
+			          }
+			          return;
+			        }
+			        emitter.emit.apply(emitter, [localEvent].concat(args));
+			      };
+
+
+			      if(listeners[event]){
+			        throw Error('Event \'' + event + '\' is already listening');
+			      }
+
+			      this._listenersCount++;
+
+			      if(emitter._newListener && emitter._removeListener && !observer._onNewListener){
+
+			        this._onNewListener = function (_event) {
+			          if (_event === localEvent && listeners[event] === null) {
+			            listeners[event] = handler;
+			            observer._on.call(target, event, handler);
+			          }
+			        };
+
+			        emitter.on('newListener', this._onNewListener);
+
+			        this._onRemoveListener= function(_event){
+			          if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){
+			            listeners[event]= null;
+			            observer._off.call(target, event, handler);
+			          }
+			        };
+
+			        listeners[event]= null;
+
+			        emitter.on('removeListener', this._onRemoveListener);
+			      }else {
+			        listeners[event]= handler;
+			        observer._on.call(target, event, handler);
+			      }
+			    },
+
+			    unsubscribe: function(event){
+			      var observer= this;
+			      var listeners= this._listeners;
+			      var emitter= this._emitter;
+			      var handler;
+			      var events;
+			      var off= this._off;
+			      var target= this._target;
+			      var i;
+
+			      if(event && typeof event!=='string'){
+			        throw TypeError('event must be a string');
+			      }
+
+			      function clearRefs(){
+			        if(observer._onNewListener){
+			          emitter.off('newListener', observer._onNewListener);
+			          emitter.off('removeListener', observer._onRemoveListener);
+			          observer._onNewListener= null;
+			          observer._onRemoveListener= null;
+			        }
+			        var index= findTargetIndex.call(emitter, observer);
+			        emitter._observers.splice(index, 1);
+			      }
+
+			      if(event){
+			        handler= listeners[event];
+			        if(!handler) return;
+			        off.call(target, event, handler);
+			        delete listeners[event];
+			        if(!--this._listenersCount){
+			          clearRefs();
+			        }
+			      }else {
+			        events= ownKeys(listeners);
+			        i= events.length;
+			        while(i-->0){
+			          event= events[i];
+			          off.call(target, event, listeners[event]);
+			        }
+			        this._listeners= {};
+			        this._listenersCount= 0;
+			        clearRefs();
+			      }
+			    }
+			  });
+
+			  function resolveOptions(options, schema, reducers, allowUnknown) {
+			    var computedOptions = Object.assign({}, schema);
+
+			    if (!options) return computedOptions;
+
+			    if (typeof options !== 'object') {
+			      throw TypeError('options must be an object')
+			    }
+
+			    var keys = Object.keys(options);
+			    var length = keys.length;
+			    var option, value;
+			    var reducer;
+
+			    function reject(reason) {
+			      throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : ''))
+			    }
+
+			    for (var i = 0; i < length; i++) {
+			      option = keys[i];
+			      if (!allowUnknown && !hasOwnProperty.call(schema, option)) {
+			        throw Error('Unknown "' + option + '" option');
+			      }
+			      value = options[option];
+			      if (value !== undefined$1) {
+			        reducer = reducers[option];
+			        computedOptions[option] = reducer ? reducer(value, reject) : value;
+			      }
+			    }
+			    return computedOptions;
+			  }
+
+			  function constructorReducer(value, reject) {
+			    if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) {
+			      reject('value must be a constructor');
+			    }
+			    return value;
+			  }
+
+			  function makeTypeReducer(types) {
+			    var message= 'value must be type of ' + types.join('|');
+			    var len= types.length;
+			    var firstType= types[0];
+			    var secondType= types[1];
+
+			    if (len === 1) {
+			      return function (v, reject) {
+			        if (typeof v === firstType) {
+			          return v;
+			        }
+			        reject(message);
+			      }
+			    }
+
+			    if (len === 2) {
+			      return function (v, reject) {
+			        var kind= typeof v;
+			        if (kind === firstType || kind === secondType) return v;
+			        reject(message);
+			      }
+			    }
+
+			    return function (v, reject) {
+			      var kind = typeof v;
+			      var i = len;
+			      while (i-- > 0) {
+			        if (kind === types[i]) return v;
+			      }
+			      reject(message);
+			    }
+			  }
+
+			  var functionReducer= makeTypeReducer(['function']);
+
+			  var objectFunctionReducer= makeTypeReducer(['object', 'function']);
+
+			  function makeCancelablePromise(Promise, executor, options) {
+			    var isCancelable;
+			    var callbacks;
+			    var timer= 0;
+			    var subscriptionClosed;
+
+			    var promise = new Promise(function (resolve, reject, onCancel) {
+			      options= resolveOptions(options, {
+			        timeout: 0,
+			        overload: false
+			      }, {
+			        timeout: function(value, reject){
+			          value*= 1;
+			          if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) {
+			            reject('timeout must be a positive number');
+			          }
+			          return value;
+			        }
+			      });
+
+			      isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function';
+
+			      function cleanup() {
+			        if (callbacks) {
+			          callbacks = null;
+			        }
+			        if (timer) {
+			          clearTimeout(timer);
+			          timer = 0;
+			        }
+			      }
+
+			      var _resolve= function(value){
+			        cleanup();
+			        resolve(value);
+			      };
+
+			      var _reject= function(err){
+			        cleanup();
+			        reject(err);
+			      };
+
+			      if (isCancelable) {
+			        executor(_resolve, _reject, onCancel);
+			      } else {
+			        callbacks = [function(reason){
+			          _reject(reason || Error('canceled'));
+			        }];
+			        executor(_resolve, _reject, function (cb) {
+			          if (subscriptionClosed) {
+			            throw Error('Unable to subscribe on cancel event asynchronously')
+			          }
+			          if (typeof cb !== 'function') {
+			            throw TypeError('onCancel callback must be a function');
+			          }
+			          callbacks.push(cb);
+			        });
+			        subscriptionClosed= true;
+			      }
+
+			      if (options.timeout > 0) {
+			        timer= setTimeout(function(){
+			          var reason= Error('timeout');
+			          reason.code = 'ETIMEDOUT';
+			          timer= 0;
+			          promise.cancel(reason);
+			          reject(reason);
+			        }, options.timeout);
+			      }
+			    });
+
+			    if (!isCancelable) {
+			      promise.cancel = function (reason) {
+			        if (!callbacks) {
+			          return;
+			        }
+			        var length = callbacks.length;
+			        for (var i = 1; i < length; i++) {
+			          callbacks[i](reason);
+			        }
+			        // internal callback to reject the promise
+			        callbacks[0](reason);
+			        callbacks = null;
+			      };
+			    }
+
+			    return promise;
+			  }
+
+			  function findTargetIndex(observer) {
+			    var observers = this._observers;
+			    if(!observers){
+			      return -1;
+			    }
+			    var len = observers.length;
+			    for (var i = 0; i < len; i++) {
+			      if (observers[i]._target === observer) return i;
+			    }
+			    return -1;
+			  }
+
+			  // Attention, function return type now is array, always !
+			  // It has zero elements if no any matches found and one or more
+			  // elements (leafs) if there are matches
+			  //
+			  function searchListenerTree(handlers, type, tree, i, typeLength) {
+			    if (!tree) {
+			      return null;
+			    }
+
+			    if (i === 0) {
+			      var kind = typeof type;
+			      if (kind === 'string') {
+			        var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length;
+			        if ((n = type.indexOf(delimiter)) !== -1) {
+			          ns = new Array(5);
+			          do {
+			            ns[l++] = type.slice(j, n);
+			            j = n + dl;
+			          } while ((n = type.indexOf(delimiter, j)) !== -1);
+
+			          ns[l++] = type.slice(j);
+			          type = ns;
+			          typeLength = l;
+			        } else {
+			          type = [type];
+			          typeLength = 1;
+			        }
+			      } else if (kind === 'object') {
+			        typeLength = type.length;
+			      } else {
+			        type = [type];
+			        typeLength = 1;
+			      }
+			    }
+
+			    var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
+			        nextType = type[i + 1], branches, _listeners;
+
+			    if (i === typeLength) {
+			      //
+			      // If at the end of the event(s) list and the tree has listeners
+			      // invoke those listeners.
+			      //
+
+			      if(tree._listeners) {
+			        if (typeof tree._listeners === 'function') {
+			          handlers && handlers.push(tree._listeners);
+			          listeners = [tree];
+			        } else {
+			          handlers && handlers.push.apply(handlers, tree._listeners);
+			          listeners = [tree];
+			        }
+			      }
+			    } else {
+
+			      if (currentType === '*') {
+			        //
+			        // If the event emitted is '*' at this part
+			        // or there is a concrete match at this patch
+			        //
+			        branches = ownKeys(tree);
+			        n = branches.length;
+			        while (n-- > 0) {
+			          branch = branches[n];
+			          if (branch !== '_listeners') {
+			            _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
+			            if (_listeners) {
+			              if (listeners) {
+			                listeners.push.apply(listeners, _listeners);
+			              } else {
+			                listeners = _listeners;
+			              }
+			            }
+			          }
+			        }
+			        return listeners;
+			      } else if (currentType === '**') {
+			        endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
+			        if (endReached && tree._listeners) {
+			          // The next element has a _listeners, add it to the handlers.
+			          listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
+			        }
+
+			        branches = ownKeys(tree);
+			        n = branches.length;
+			        while (n-- > 0) {
+			          branch = branches[n];
+			          if (branch !== '_listeners') {
+			            if (branch === '*' || branch === '**') {
+			              if (tree[branch]._listeners && !endReached) {
+			                _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
+			                if (_listeners) {
+			                  if (listeners) {
+			                    listeners.push.apply(listeners, _listeners);
+			                  } else {
+			                    listeners = _listeners;
+			                  }
+			                }
+			              }
+			              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
+			            } else if (branch === nextType) {
+			              _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
+			            } else {
+			              // No match on this one, shift into the tree but not in the type array.
+			              _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
+			            }
+			            if (_listeners) {
+			              if (listeners) {
+			                listeners.push.apply(listeners, _listeners);
+			              } else {
+			                listeners = _listeners;
+			              }
+			            }
+			          }
+			        }
+			        return listeners;
+			      } else if (tree[currentType]) {
+			        listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
+			      }
+			    }
+
+			      xTree = tree['*'];
+			    if (xTree) {
+			      //
+			      // If the listener tree will allow any match for this part,
+			      // then recursively explore all branches of the tree
+			      //
+			      searchListenerTree(handlers, type, xTree, i + 1, typeLength);
+			    }
+
+			    xxTree = tree['**'];
+			    if (xxTree) {
+			      if (i < typeLength) {
+			        if (xxTree._listeners) {
+			          // If we have a listener on a '**', it will catch all, so add its handler.
+			          searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
+			        }
+
+			        // Build arrays of matching next branches and others.
+			        branches= ownKeys(xxTree);
+			        n= branches.length;
+			        while(n-->0){
+			          branch= branches[n];
+			          if (branch !== '_listeners') {
+			            if (branch === nextType) {
+			              // We know the next element will match, so jump twice.
+			              searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength);
+			            } else if (branch === currentType) {
+			              // Current node matches, move into the tree.
+			              searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength);
+			            } else {
+			              isolatedBranch = {};
+			              isolatedBranch[branch] = xxTree[branch];
+			              searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength);
+			            }
+			          }
+			        }
+			      } else if (xxTree._listeners) {
+			        // We have reached the end and still on a '**'
+			        searchListenerTree(handlers, type, xxTree, typeLength, typeLength);
+			      } else if (xxTree['*'] && xxTree['*']._listeners) {
+			        searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength);
+			      }
+			    }
+
+			    return listeners;
+			  }
+
+			  function growListenerTree(type, listener, prepend) {
+			    var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns;
+
+			    if(typeof type==='string') {
+			      if ((i = type.indexOf(delimiter)) !== -1) {
+			        ns = new Array(5);
+			        do {
+			          ns[len++] = type.slice(j, i);
+			          j = i + dl;
+			        } while ((i = type.indexOf(delimiter, j)) !== -1);
+
+			        ns[len++] = type.slice(j);
+			      }else {
+			        ns= [type];
+			        len= 1;
+			      }
+			    }else {
+			      ns= type;
+			      len= type.length;
+			    }
+
+			    //
+			    // Looks for two consecutive '**', if so, don't add the event at all.
+			    //
+			    if (len > 1) {
+			      for (i = 0; i + 1 < len; i++) {
+			        if (ns[i] === '**' && ns[i + 1] === '**') {
+			          return;
+			        }
+			      }
+			    }
+
+
+
+			    var tree = this.listenerTree, name;
+
+			    for (i = 0; i < len; i++) {
+			      name = ns[i];
+
+			      tree = tree[name] || (tree[name] = {});
+
+			      if (i === len - 1) {
+			        if (!tree._listeners) {
+			          tree._listeners = listener;
+			        } else {
+			          if (typeof tree._listeners === 'function') {
+			            tree._listeners = [tree._listeners];
+			          }
+
+			          if (prepend) {
+			            tree._listeners.unshift(listener);
+			          } else {
+			            tree._listeners.push(listener);
+			          }
+
+			          if (
+			              !tree._listeners.warned &&
+			              this._maxListeners > 0 &&
+			              tree._listeners.length > this._maxListeners
+			          ) {
+			            tree._listeners.warned = true;
+			            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
+			          }
+			        }
+			        return true;
+			      }
+			    }
+
+			    return true;
+			  }
+
+			  function collectTreeEvents(tree, events, root, asArray){
+			     var branches= ownKeys(tree);
+			     var i= branches.length;
+			     var branch, branchName, path;
+			     var hasListeners= tree['_listeners'];
+			     var isArrayPath;
+
+			     while(i-->0){
+			         branchName= branches[i];
+
+			         branch= tree[branchName];
+
+			         if(branchName==='_listeners'){
+			             path= root;
+			         }else {
+			             path = root ? root.concat(branchName) : [branchName];
+			         }
+
+			         isArrayPath= asArray || typeof branchName==='symbol';
+
+			         hasListeners && events.push(isArrayPath? path : path.join(this.delimiter));
+
+			         if(typeof branch==='object'){
+			             collectTreeEvents.call(this, branch, events, path, isArrayPath);
+			         }
+			     }
+
+			     return events;
+			  }
+
+			  function recursivelyGarbageCollect(root) {
+			    var keys = ownKeys(root);
+			    var i= keys.length;
+			    var obj, key, flag;
+			    while(i-->0){
+			      key = keys[i];
+			      obj = root[key];
+
+			      if(obj){
+			          flag= true;
+			          if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){
+			             delete root[key];
+			          }
+			      }
+			    }
+
+			    return flag;
+			  }
+
+			  function Listener(emitter, event, listener){
+			    this.emitter= emitter;
+			    this.event= event;
+			    this.listener= listener;
+			  }
+
+			  Listener.prototype.off= function(){
+			    this.emitter.off(this.event, this.listener);
+			    return this;
+			  };
+
+			  function setupListener(event, listener, options){
+			      if (options === true) {
+			        promisify = true;
+			      } else if (options === false) {
+			        async = true;
+			      } else {
+			        if (!options || typeof options !== 'object') {
+			          throw TypeError('options should be an object or true');
+			        }
+			        var async = options.async;
+			        var promisify = options.promisify;
+			        var nextTick = options.nextTick;
+			        var objectify = options.objectify;
+			      }
+
+			      if (async || nextTick || promisify) {
+			        var _listener = listener;
+			        var _origin = listener._origin || listener;
+
+			        if (nextTick && !nextTickSupported) {
+			          throw Error('process.nextTick is not supported');
+			        }
+
+			        if (promisify === undefined$1) {
+			          promisify = listener.constructor.name === 'AsyncFunction';
+			        }
+
+			        listener = function () {
+			          var args = arguments;
+			          var context = this;
+			          var event = this.event;
+
+			          return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) {
+			            _setImmediate(resolve);
+			          }).then(function () {
+			            context.event = event;
+			            return _listener.apply(context, args)
+			          })) : (nextTick ? process.nextTick : _setImmediate)(function () {
+			            context.event = event;
+			            _listener.apply(context, args);
+			          });
+			        };
+
+			        listener._async = true;
+			        listener._origin = _origin;
+			      }
+
+			    return [listener, objectify? new Listener(this, event, listener): this];
+			  }
+
+			  function EventEmitter(conf) {
+			    this._events = {};
+			    this._newListener = false;
+			    this._removeListener = false;
+			    this.verboseMemoryLeak = false;
+			    configure.call(this, conf);
+			  }
+
+			  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
+
+			  EventEmitter.prototype.listenTo= function(target, events, options){
+			    if(typeof target!=='object'){
+			      throw TypeError('target musts be an object');
+			    }
+
+			    var emitter= this;
+
+			    options = resolveOptions(options, {
+			      on: undefined$1,
+			      off: undefined$1,
+			      reducers: undefined$1
+			    }, {
+			      on: functionReducer,
+			      off: functionReducer,
+			      reducers: objectFunctionReducer
+			    });
+
+			    function listen(events){
+			      if(typeof events!=='object'){
+			        throw TypeError('events must be an object');
+			      }
+
+			      var reducers= options.reducers;
+			      var index= findTargetIndex.call(emitter, target);
+			      var observer;
+
+			      if(index===-1){
+			        observer= new TargetObserver(emitter, target, options);
+			      }else {
+			        observer= emitter._observers[index];
+			      }
+
+			      var keys= ownKeys(events);
+			      var len= keys.length;
+			      var event;
+			      var isSingleReducer= typeof reducers==='function';
+
+			      for(var i=0; i<len; i++){
+			        event= keys[i];
+			        observer.subscribe(
+			            event,
+			            events[event] || event,
+			            isSingleReducer ? reducers : reducers && reducers[event]
+			        );
+			      }
+			    }
+
+			    isArray(events)?
+			        listen(toObject(events)) :
+			        (typeof events==='string'? listen(toObject(events.split(/\s+/))): listen(events));
+
+			    return this;
+			  };
+
+			  EventEmitter.prototype.stopListeningTo = function (target, event) {
+			    var observers = this._observers;
+
+			    if(!observers){
+			      return false;
+			    }
+
+			    var i = observers.length;
+			    var observer;
+			    var matched= false;
+
+			    if(target && typeof target!=='object'){
+			      throw TypeError('target should be an object');
+			    }
+
+			    while (i-- > 0) {
+			      observer = observers[i];
+			      if (!target || observer._target === target) {
+			        observer.unsubscribe(event);
+			        matched= true;
+			      }
+			    }
+
+			    return matched;
+			  };
+
+			  // By default EventEmitters will print a warning if more than
+			  // 10 listeners are added to it. This is a useful default which
+			  // helps finding memory leaks.
+			  //
+			  // Obviously not all Emitters should be limited to 10. This function allows
+			  // that to be increased. Set to zero for unlimited.
+
+			  EventEmitter.prototype.delimiter = '.';
+
+			  EventEmitter.prototype.setMaxListeners = function(n) {
+			    if (n !== undefined$1) {
+			      this._maxListeners = n;
+			      if (!this._conf) this._conf = {};
+			      this._conf.maxListeners = n;
+			    }
+			  };
+
+			  EventEmitter.prototype.getMaxListeners = function() {
+			    return this._maxListeners;
+			  };
+
+			  EventEmitter.prototype.event = '';
+
+			  EventEmitter.prototype.once = function(event, fn, options) {
+			    return this._once(event, fn, false, options);
+			  };
+
+			  EventEmitter.prototype.prependOnceListener = function(event, fn, options) {
+			    return this._once(event, fn, true, options);
+			  };
+
+			  EventEmitter.prototype._once = function(event, fn, prepend, options) {
+			    return this._many(event, 1, fn, prepend, options);
+			  };
+
+			  EventEmitter.prototype.many = function(event, ttl, fn, options) {
+			    return this._many(event, ttl, fn, false, options);
+			  };
+
+			  EventEmitter.prototype.prependMany = function(event, ttl, fn, options) {
+			    return this._many(event, ttl, fn, true, options);
+			  };
+
+			  EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) {
+			    var self = this;
+
+			    if (typeof fn !== 'function') {
+			      throw new Error('many only accepts instances of Function');
+			    }
+
+			    function listener() {
+			      if (--ttl === 0) {
+			        self.off(event, listener);
+			      }
+			      return fn.apply(this, arguments);
+			    }
+
+			    listener._origin = fn;
+
+			    return this._on(event, listener, prepend, options);
+			  };
+
+			  EventEmitter.prototype.emit = function() {
+			    if (!this._events && !this._all) {
+			      return false;
+			    }
+
+			    this._events || init.call(this);
+
+			    var type = arguments[0], ns, wildcard= this.wildcard;
+			    var args,l,i,j, containsSymbol;
+
+			    if (type === 'newListener' && !this._newListener) {
+			      if (!this._events.newListener) {
+			        return false;
+			      }
+			    }
+
+			    if (wildcard) {
+			      ns= type;
+			      if(type!=='newListener' && type!=='removeListener'){
+			        if (typeof type === 'object') {
+			          l = type.length;
+			          if (symbolsSupported) {
+			            for (i = 0; i < l; i++) {
+			              if (typeof type[i] === 'symbol') {
+			                containsSymbol = true;
+			                break;
+			              }
+			            }
+			          }
+			          if (!containsSymbol) {
+			            type = type.join(this.delimiter);
+			          }
+			        }
+			      }
+			    }
+
+			    var al = arguments.length;
+			    var handler;
+
+			    if (this._all && this._all.length) {
+			      handler = this._all.slice();
+
+			      for (i = 0, l = handler.length; i < l; i++) {
+			        this.event = type;
+			        switch (al) {
+			        case 1:
+			          handler[i].call(this, type);
+			          break;
+			        case 2:
+			          handler[i].call(this, type, arguments[1]);
+			          break;
+			        case 3:
+			          handler[i].call(this, type, arguments[1], arguments[2]);
+			          break;
+			        default:
+			          handler[i].apply(this, arguments);
+			        }
+			      }
+			    }
+
+			    if (wildcard) {
+			      handler = [];
+			      searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l);
+			    } else {
+			      handler = this._events[type];
+			      if (typeof handler === 'function') {
+			        this.event = type;
+			        switch (al) {
+			        case 1:
+			          handler.call(this);
+			          break;
+			        case 2:
+			          handler.call(this, arguments[1]);
+			          break;
+			        case 3:
+			          handler.call(this, arguments[1], arguments[2]);
+			          break;
+			        default:
+			          args = new Array(al - 1);
+			          for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+			          handler.apply(this, args);
+			        }
+			        return true;
+			      } else if (handler) {
+			        // need to make copy of handlers because list can change in the middle
+			        // of emit call
+			        handler = handler.slice();
+			      }
+			    }
+
+			    if (handler && handler.length) {
+			      if (al > 3) {
+			        args = new Array(al - 1);
+			        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+			      }
+			      for (i = 0, l = handler.length; i < l; i++) {
+			        this.event = type;
+			        switch (al) {
+			        case 1:
+			          handler[i].call(this);
+			          break;
+			        case 2:
+			          handler[i].call(this, arguments[1]);
+			          break;
+			        case 3:
+			          handler[i].call(this, arguments[1], arguments[2]);
+			          break;
+			        default:
+			          handler[i].apply(this, args);
+			        }
+			      }
+			      return true;
+			    } else if (!this.ignoreErrors && !this._all && type === 'error') {
+			      if (arguments[1] instanceof Error) {
+			        throw arguments[1]; // Unhandled 'error' event
+			      } else {
+			        throw new Error("Uncaught, unspecified 'error' event.");
+			      }
+			    }
+
+			    return !!this._all;
+			  };
+
+			  EventEmitter.prototype.emitAsync = function() {
+			    if (!this._events && !this._all) {
+			      return false;
+			    }
+
+			    this._events || init.call(this);
+
+			    var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol;
+			    var args,l,i,j;
+
+			    if (type === 'newListener' && !this._newListener) {
+			        if (!this._events.newListener) { return Promise.resolve([false]); }
+			    }
+
+			    if (wildcard) {
+			      ns= type;
+			      if(type!=='newListener' && type!=='removeListener'){
+			        if (typeof type === 'object') {
+			          l = type.length;
+			          if (symbolsSupported) {
+			            for (i = 0; i < l; i++) {
+			              if (typeof type[i] === 'symbol') {
+			                containsSymbol = true;
+			                break;
+			              }
+			            }
+			          }
+			          if (!containsSymbol) {
+			            type = type.join(this.delimiter);
+			          }
+			        }
+			      }
+			    }
+
+			    var promises= [];
+
+			    var al = arguments.length;
+			    var handler;
+
+			    if (this._all) {
+			      for (i = 0, l = this._all.length; i < l; i++) {
+			        this.event = type;
+			        switch (al) {
+			        case 1:
+			          promises.push(this._all[i].call(this, type));
+			          break;
+			        case 2:
+			          promises.push(this._all[i].call(this, type, arguments[1]));
+			          break;
+			        case 3:
+			          promises.push(this._all[i].call(this, type, arguments[1], arguments[2]));
+			          break;
+			        default:
+			          promises.push(this._all[i].apply(this, arguments));
+			        }
+			      }
+			    }
+
+			    if (wildcard) {
+			      handler = [];
+			      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
+			    } else {
+			      handler = this._events[type];
+			    }
+
+			    if (typeof handler === 'function') {
+			      this.event = type;
+			      switch (al) {
+			      case 1:
+			        promises.push(handler.call(this));
+			        break;
+			      case 2:
+			        promises.push(handler.call(this, arguments[1]));
+			        break;
+			      case 3:
+			        promises.push(handler.call(this, arguments[1], arguments[2]));
+			        break;
+			      default:
+			        args = new Array(al - 1);
+			        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+			        promises.push(handler.apply(this, args));
+			      }
+			    } else if (handler && handler.length) {
+			      handler = handler.slice();
+			      if (al > 3) {
+			        args = new Array(al - 1);
+			        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+			      }
+			      for (i = 0, l = handler.length; i < l; i++) {
+			        this.event = type;
+			        switch (al) {
+			        case 1:
+			          promises.push(handler[i].call(this));
+			          break;
+			        case 2:
+			          promises.push(handler[i].call(this, arguments[1]));
+			          break;
+			        case 3:
+			          promises.push(handler[i].call(this, arguments[1], arguments[2]));
+			          break;
+			        default:
+			          promises.push(handler[i].apply(this, args));
+			        }
+			      }
+			    } else if (!this.ignoreErrors && !this._all && type === 'error') {
+			      if (arguments[1] instanceof Error) {
+			        return Promise.reject(arguments[1]); // Unhandled 'error' event
+			      } else {
+			        return Promise.reject("Uncaught, unspecified 'error' event.");
+			      }
+			    }
+
+			    return Promise.all(promises);
+			  };
+
+			  EventEmitter.prototype.on = function(type, listener, options) {
+			    return this._on(type, listener, false, options);
+			  };
+
+			  EventEmitter.prototype.prependListener = function(type, listener, options) {
+			    return this._on(type, listener, true, options);
+			  };
+
+			  EventEmitter.prototype.onAny = function(fn) {
+			    return this._onAny(fn, false);
+			  };
+
+			  EventEmitter.prototype.prependAny = function(fn) {
+			    return this._onAny(fn, true);
+			  };
+
+			  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
+
+			  EventEmitter.prototype._onAny = function(fn, prepend){
+			    if (typeof fn !== 'function') {
+			      throw new Error('onAny only accepts instances of Function');
+			    }
+
+			    if (!this._all) {
+			      this._all = [];
+			    }
+
+			    // Add the function to the event listener collection.
+			    if(prepend){
+			      this._all.unshift(fn);
+			    }else {
+			      this._all.push(fn);
+			    }
+
+			    return this;
+			  };
+
+			  EventEmitter.prototype._on = function(type, listener, prepend, options) {
+			    if (typeof type === 'function') {
+			      this._onAny(type, listener);
+			      return this;
+			    }
+
+			    if (typeof listener !== 'function') {
+			      throw new Error('on only accepts instances of Function');
+			    }
+			    this._events || init.call(this);
+
+			    var returnValue= this, temp;
+
+			    if (options !== undefined$1) {
+			      temp = setupListener.call(this, type, listener, options);
+			      listener = temp[0];
+			      returnValue = temp[1];
+			    }
+
+			    // To avoid recursion in the case that type == "newListeners"! Before
+			    // adding it to the listeners, first emit "newListeners".
+			    if (this._newListener) {
+			      this.emit('newListener', type, listener);
+			    }
+
+			    if (this.wildcard) {
+			      growListenerTree.call(this, type, listener, prepend);
+			      return returnValue;
+			    }
+
+			    if (!this._events[type]) {
+			      // Optimize the case of one listener. Don't need the extra array object.
+			      this._events[type] = listener;
+			    } else {
+			      if (typeof this._events[type] === 'function') {
+			        // Change to array.
+			        this._events[type] = [this._events[type]];
+			      }
+
+			      // If we've already got an array, just add
+			      if(prepend){
+			        this._events[type].unshift(listener);
+			      }else {
+			        this._events[type].push(listener);
+			      }
+
+			      // Check for listener leak
+			      if (
+			        !this._events[type].warned &&
+			        this._maxListeners > 0 &&
+			        this._events[type].length > this._maxListeners
+			      ) {
+			        this._events[type].warned = true;
+			        logPossibleMemoryLeak.call(this, this._events[type].length, type);
+			      }
+			    }
+
+			    return returnValue;
+			  };
+
+			  EventEmitter.prototype.off = function(type, listener) {
+			    if (typeof listener !== 'function') {
+			      throw new Error('removeListener only takes instances of Function');
+			    }
+
+			    var handlers,leafs=[];
+
+			    if(this.wildcard) {
+			      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+			      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+			      if(!leafs) return this;
+			    } else {
+			      // does not use listeners(), so no side effect of creating _events[type]
+			      if (!this._events[type]) return this;
+			      handlers = this._events[type];
+			      leafs.push({_listeners:handlers});
+			    }
+
+			    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+			      var leaf = leafs[iLeaf];
+			      handlers = leaf._listeners;
+			      if (isArray(handlers)) {
+
+			        var position = -1;
+
+			        for (var i = 0, length = handlers.length; i < length; i++) {
+			          if (handlers[i] === listener ||
+			            (handlers[i].listener && handlers[i].listener === listener) ||
+			            (handlers[i]._origin && handlers[i]._origin === listener)) {
+			            position = i;
+			            break;
+			          }
+			        }
+
+			        if (position < 0) {
+			          continue;
+			        }
+
+			        if(this.wildcard) {
+			          leaf._listeners.splice(position, 1);
+			        }
+			        else {
+			          this._events[type].splice(position, 1);
+			        }
+
+			        if (handlers.length === 0) {
+			          if(this.wildcard) {
+			            delete leaf._listeners;
+			          }
+			          else {
+			            delete this._events[type];
+			          }
+			        }
+			        if (this._removeListener)
+			          this.emit("removeListener", type, listener);
+
+			        return this;
+			      }
+			      else if (handlers === listener ||
+			        (handlers.listener && handlers.listener === listener) ||
+			        (handlers._origin && handlers._origin === listener)) {
+			        if(this.wildcard) {
+			          delete leaf._listeners;
+			        }
+			        else {
+			          delete this._events[type];
+			        }
+			        if (this._removeListener)
+			          this.emit("removeListener", type, listener);
+			      }
+			    }
+
+			    this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
+
+			    return this;
+			  };
+
+			  EventEmitter.prototype.offAny = function(fn) {
+			    var i = 0, l = 0, fns;
+			    if (fn && this._all && this._all.length > 0) {
+			      fns = this._all;
+			      for(i = 0, l = fns.length; i < l; i++) {
+			        if(fn === fns[i]) {
+			          fns.splice(i, 1);
+			          if (this._removeListener)
+			            this.emit("removeListenerAny", fn);
+			          return this;
+			        }
+			      }
+			    } else {
+			      fns = this._all;
+			      if (this._removeListener) {
+			        for(i = 0, l = fns.length; i < l; i++)
+			          this.emit("removeListenerAny", fns[i]);
+			      }
+			      this._all = [];
+			    }
+			    return this;
+			  };
+
+			  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
+
+			  EventEmitter.prototype.removeAllListeners = function (type) {
+			    if (type === undefined$1) {
+			      !this._events || init.call(this);
+			      return this;
+			    }
+
+			    if (this.wildcard) {
+			      var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i;
+			      if (!leafs) return this;
+			      for (i = 0; i < leafs.length; i++) {
+			        leaf = leafs[i];
+			        leaf._listeners = null;
+			      }
+			      this.listenerTree && recursivelyGarbageCollect(this.listenerTree);
+			    } else if (this._events) {
+			      this._events[type] = null;
+			    }
+			    return this;
+			  };
+
+			  EventEmitter.prototype.listeners = function (type) {
+			    var _events = this._events;
+			    var keys, listeners, allListeners;
+			    var i;
+			    var listenerTree;
+
+			    if (type === undefined$1) {
+			      if (this.wildcard) {
+			        throw Error('event name required for wildcard emitter');
+			      }
+
+			      if (!_events) {
+			        return [];
+			      }
+
+			      keys = ownKeys(_events);
+			      i = keys.length;
+			      allListeners = [];
+			      while (i-- > 0) {
+			        listeners = _events[keys[i]];
+			        if (typeof listeners === 'function') {
+			          allListeners.push(listeners);
+			        } else {
+			          allListeners.push.apply(allListeners, listeners);
+			        }
+			      }
+			      return allListeners;
+			    } else {
+			      if (this.wildcard) {
+			        listenerTree= this.listenerTree;
+			        if(!listenerTree) return [];
+			        var handlers = [];
+			        var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+			        searchListenerTree.call(this, handlers, ns, listenerTree, 0);
+			        return handlers;
+			      }
+
+			      if (!_events) {
+			        return [];
+			      }
+
+			      listeners = _events[type];
+
+			      if (!listeners) {
+			        return [];
+			      }
+			      return typeof listeners === 'function' ? [listeners] : listeners;
+			    }
+			  };
+
+			  EventEmitter.prototype.eventNames = function(nsAsArray){
+			    var _events= this._events;
+			    return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []);
+			  };
+
+			  EventEmitter.prototype.listenerCount = function(type) {
+			    return this.listeners(type).length;
+			  };
+
+			  EventEmitter.prototype.hasListeners = function (type) {
+			    if (this.wildcard) {
+			      var handlers = [];
+			      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+			      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
+			      return handlers.length > 0;
+			    }
+
+			    var _events = this._events;
+			    var _all = this._all;
+
+			    return !!(_all && _all.length || _events && (type === undefined$1 ? ownKeys(_events).length : _events[type]));
+			  };
+
+			  EventEmitter.prototype.listenersAny = function() {
+
+			    if(this._all) {
+			      return this._all;
+			    }
+			    else {
+			      return [];
+			    }
+
+			  };
+
+			  EventEmitter.prototype.waitFor = function (event, options) {
+			    var self = this;
+			    var type = typeof options;
+			    if (type === 'number') {
+			      options = {timeout: options};
+			    } else if (type === 'function') {
+			      options = {filter: options};
+			    }
+
+			    options= resolveOptions(options, {
+			      timeout: 0,
+			      filter: undefined$1,
+			      handleError: false,
+			      Promise: Promise,
+			      overload: false
+			    }, {
+			      filter: functionReducer,
+			      Promise: constructorReducer
+			    });
+
+			    return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) {
+			      function listener() {
+			        var filter= options.filter;
+			        if (filter && !filter.apply(self, arguments)) {
+			          return;
+			        }
+			        self.off(event, listener);
+			        if (options.handleError) {
+			          var err = arguments[0];
+			          err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1));
+			        } else {
+			          resolve(toArray.apply(null, arguments));
+			        }
+			      }
+
+			      onCancel(function(){
+			        self.off(event, listener);
+			      });
+
+			      self._on(event, listener, false);
+			    }, {
+			      timeout: options.timeout,
+			      overload: options.overload
+			    })
+			  };
+
+			  function once(emitter, name, options) {
+			    options= resolveOptions(options, {
+			      Promise: Promise,
+			      timeout: 0,
+			      overload: false
+			    }, {
+			      Promise: constructorReducer
+			    });
+
+			    var _Promise= options.Promise;
+
+			    return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){
+			      var handler;
+			      if (typeof emitter.addEventListener === 'function') {
+			        handler=  function () {
+			          resolve(toArray.apply(null, arguments));
+			        };
+
+			        onCancel(function(){
+			          emitter.removeEventListener(name, handler);
+			        });
+
+			        emitter.addEventListener(
+			            name,
+			            handler,
+			            {once: true}
+			        );
+			        return;
+			      }
+
+			      var eventListener = function(){
+			        errorListener && emitter.removeListener('error', errorListener);
+			        resolve(toArray.apply(null, arguments));
+			      };
+
+			      var errorListener;
+
+			      if (name !== 'error') {
+			        errorListener = function (err){
+			          emitter.removeListener(name, eventListener);
+			          reject(err);
+			        };
+
+			        emitter.once('error', errorListener);
+			      }
+
+			      onCancel(function(){
+			        errorListener && emitter.removeListener('error', errorListener);
+			        emitter.removeListener(name, eventListener);
+			      });
+
+			      emitter.once(name, eventListener);
+			    }, {
+			      timeout: options.timeout,
+			      overload: options.overload
+			    });
+			  }
+
+			  var prototype= EventEmitter.prototype;
+
+			  Object.defineProperties(EventEmitter, {
+			    defaultMaxListeners: {
+			      get: function () {
+			        return prototype._maxListeners;
+			      },
+			      set: function (n) {
+			        if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) {
+			          throw TypeError('n must be a non-negative number')
+			        }
+			        prototype._maxListeners = n;
+			      },
+			      enumerable: true
+			    },
+			    once: {
+			      value: once,
+			      writable: true,
+			      configurable: true
+			    }
+			  });
+
+			  Object.defineProperties(prototype, {
+			      _maxListeners: {
+			          value: defaultMaxListeners,
+			          writable: true,
+			          configurable: true
+			      },
+			      _observers: {value: null, writable: true, configurable: true}
+			  });
+
+			  if (typeof undefined$1 === 'function' && undefined$1.amd) {
+			     // AMD. Register as an anonymous module.
+			    undefined$1(function() {
+			      return EventEmitter;
+			    });
+			  } else {
+			    // CommonJS
+			    module.exports = EventEmitter;
+			  }
+			}(); 
+		} (eventemitter2, eventemitter2.exports));
+		return eventemitter2.exports;
+	}
+
+	var eventemitter2Exports = requireEventemitter2();
 	var EventEmitter2 = /*@__PURE__*/getDefaultExportFromCjs(eventemitter2Exports);
 
 	/**
diff --git a/build/ros3d.min.js b/build/ros3d.min.js
index d3b63366..5a34d276 100644
--- a/build/ros3d.min.js
+++ b/build/ros3d.min.js
@@ -9,4 +9,4 @@ Object.assign(za.prototype,{_getValue_unbound:za.prototype.getValue,_setValue_un
 	 *
 	 * Copyright (c) 2013 hij1nx
 	 * Licensed under the MIT license.
-	 */Ws=Xs,function(e){var t=Object.hasOwnProperty,i=Array.isArray?Array.isArray:function(e){return"[object Array]"===Object.prototype.toString.call(e)},r="object"==typeof process&&"function"==typeof process.nextTick,n="function"==typeof Symbol,o="object"==typeof Reflect,a="function"==typeof setImmediate?setImmediate:setTimeout,s=n?o&&"function"==typeof Reflect.ownKeys?Reflect.ownKeys:function(e){var t=Object.getOwnPropertyNames(e);return t.push.apply(t,Object.getOwnPropertySymbols(e)),t}:Object.keys;function c(){this._events={},this._conf&&h.call(this,this._conf)}function h(t){t&&(this._conf=t,t.delimiter&&(this.delimiter=t.delimiter),t.maxListeners!==e&&(this._maxListeners=t.maxListeners),t.wildcard&&(this.wildcard=t.wildcard),t.newListener&&(this._newListener=t.newListener),t.removeListener&&(this._removeListener=t.removeListener),t.verboseMemoryLeak&&(this.verboseMemoryLeak=t.verboseMemoryLeak),t.ignoreErrors&&(this.ignoreErrors=t.ignoreErrors),this.wildcard&&(this.listenerTree={}))}function l(e,t){var i="(node) warning: possible EventEmitter memory leak detected. "+e+" listeners added. Use emitter.setMaxListeners() to increase limit.";if(this.verboseMemoryLeak&&(i+=" Event name: "+t+"."),"undefined"!=typeof process&&process.emitWarning){var r=new Error(i);r.name="MaxListenersExceededWarning",r.emitter=this,r.count=e,process.emitWarning(r)}else console.error(i),console.trace&&console.trace()}var u=function(e,t,i){var r=arguments.length;switch(r){case 0:return[];case 1:return[e];case 2:return[e,t];case 3:return[e,t,i];default:for(var n=new Array(r);r--;)n[r]=arguments[r];return n}};function p(t,i){for(var r={},n=t.length,o=i?value.length:0,a=0;a<n;a++)r[t[a]]=a<o?i[a]:e;return r}function d(e,t,i){var r,n;if(this._emitter=e,this._target=t,this._listeners={},this._listenersCount=0,(i.on||i.off)&&(r=i.on,n=i.off),t.addEventListener?(r=t.addEventListener,n=t.removeEventListener):t.addListener?(r=t.addListener,n=t.removeListener):t.on&&(r=t.on,n=t.off),!r&&!n)throw Error("target does not implement any known event API");if("function"!=typeof r)throw TypeError("on method must be a function");if("function"!=typeof n)throw TypeError("off method must be a function");this._on=r,this._off=n;var o=e._observers;o?o.push(this):e._observers=[this]}function f(i,r,n,o){var a=Object.assign({},r);if(!i)return a;if("object"!=typeof i)throw TypeError("options must be an object");var s,c,h,l=Object.keys(i),u=l.length;function p(e){throw Error('Invalid "'+s+'" option value'+(e?". 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r;return-1}function w(e,t,i,r,n){if(!i)return null;if(0===r){var o=typeof t;if("string"===o){var a,c,h=0,l=0,u=this.delimiter,p=u.length;if(-1!==(c=t.indexOf(u))){a=new Array(5);do{a[h++]=t.slice(l,c),l=c+p}while(-1!==(c=t.indexOf(u,l)));a[h++]=t.slice(l),t=a,n=h}else t=[t],n=1}else"object"===o?n=t.length:(t=[t],n=1)}var d,f,m,v,g,y,x,b=null,_=t[r],M=t[r+1];if(r===n)i._listeners&&("function"==typeof i._listeners?(e&&e.push(i._listeners),b=[i]):(e&&e.push.apply(e,i._listeners),b=[i]));else{if("*"===_){for(c=(y=s(i)).length;c-- >0;)"_listeners"!==(d=y[c])&&(x=w(e,t,i[d],r+1,n))&&(b?b.push.apply(b,x):b=x);return b}if("**"===_){for((g=r+1===n||r+2===n&&"*"===M)&&i._listeners&&(b=w(e,t,i,n,n)),c=(y=s(i)).length;c-- >0;)"_listeners"!==(d=y[c])&&("*"===d||"**"===d?(i[d]._listeners&&!g&&(x=w(e,t,i[d],n,n))&&(b?b.push.apply(b,x):b=x),x=w(e,t,i[d],r,n)):x=w(e,t,i[d],d===M?r+2:r,n),x&&(b?b.push.apply(b,x):b=x));return 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c=-1,h=0,l=r.length;h<l;h++)if(r[h]===t||r[h].listener&&r[h].listener===t||r[h]._origin&&r[h]._origin===t){c=h;break}if(c<0)continue;return this.wildcard?s._listeners.splice(c,1):this._events[e].splice(c,1),0===r.length&&(this.wildcard?delete s._listeners:delete this._events[e]),this._removeListener&&this.emit("removeListener",e,t),this}(r===t||r.listener&&r.listener===t||r._origin&&r._origin===t)&&(this.wildcard?delete s._listeners:delete this._events[e],this._removeListener&&this.emit("removeListener",e,t))}return this.listenerTree&&E(this.listenerTree),this},A.prototype.offAny=function(e){var t,i=0,r=0;if(e&&this._all&&this._all.length>0){for(i=0,r=(t=this._all).length;i<r;i++)if(e===t[i])return t.splice(i,1),this._removeListener&&this.emit("removeListenerAny",e),this}else{if(t=this._all,this._removeListener)for(i=0,r=t.length;i<r;i++)this.emit("removeListenerAny",t[i]);this._all=[]}return this},A.prototype.removeListener=A.prototype.off,A.prototype.removeAllListeners=function(t){if(t===e)return!this._events||c.call(this),this;if(this.wildcard){var i,r=w.call(this,null,t,this.listenerTree,0);if(!r)return this;for(i=0;i<r.length;i++)r[i]._listeners=null;this.listenerTree&&E(this.listenerTree)}else this._events&&(this._events[t]=null);return this},A.prototype.listeners=function(t){var i,r,n,o,a,c=this._events;if(t===e){if(this.wildcard)throw Error("event name required for wildcard emitter");if(!c)return[];for(o=(i=s(c)).length,n=[];o-- >0;)"function"==typeof(r=c[i[o]])?n.push(r):n.push.apply(n,r);return n}if(this.wildcard){if(!(a=this.listenerTree))return[];var h=[],l="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,h,l,a,0),h}return c&&(r=c[t])?"function"==typeof r?[r]:r:[]},A.prototype.eventNames=function(e){var t=this._events;return this.wildcard?M.call(this,this.listenerTree,[],null,e):t?s(t):[]},A.prototype.listenerCount=function(e){return this.listeners(e).length},A.prototype.hasListeners=function(t){if(this.wildcard){var i=[],r="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,i,r,this.listenerTree,0),i.length>0}var n=this._events,o=this._all;return!!(o&&o.length||n&&(t===e?s(n).length:n[t]))},A.prototype.listenersAny=function(){return this._all?this._all:[]},A.prototype.waitFor=function(t,i){var r=this,n=typeof i;return"number"===n?i={timeout:i}:"function"===n&&(i={filter:i}),x((i=f(i,{timeout:0,filter:e,handleError:!1,Promise:Promise,overload:!1},{filter:g,Promise:m})).Promise,(function(e,n,o){function a(){var o=i.filter;if(!o||o.apply(r,arguments))if(r.off(t,a),i.handleError){var s=arguments[0];s?n(s):e(u.apply(null,arguments).slice(1))}else e(u.apply(null,arguments))}o((function(){r.off(t,a)})),r._on(t,a,!1)}),{timeout:i.timeout,overload:i.overload})};var L=A.prototype;Object.defineProperties(A,{defaultMaxListeners:{get:function(){return L._maxListeners},set:function(e){if("number"!=typeof e||e<0||Number.isNaN(e))throw TypeError("n must be a non-negative number");L._maxListeners=e},enumerable:!0},once:{value:function(e,t,i){return x((i=f(i,{Promise:Promise,timeout:0,overload:!1},{Promise:m})).Promise,(function(i,r,n){var o;if("function"==typeof e.addEventListener)return o=function(){i(u.apply(null,arguments))},n((function(){e.removeEventListener(t,o)})),void e.addEventListener(t,o,{once:!0});var a,s=function(){a&&e.removeListener("error",a),i(u.apply(null,arguments))};"error"!==t&&(a=function(i){e.removeListener(t,s),r(i)},e.once("error",a)),n((function(){a&&e.removeListener("error",a),e.removeListener(t,s)})),e.once(t,s)}),{timeout:i.timeout,overload:i.overload})},writable:!0,configurable:!0}}),Object.defineProperties(L,{_maxListeners:{value:10,writable:!0,configurable:!0},_observers:{value:null,writable:!0,configurable:!0}}),Ws.exports=A}();var qs=Hs(Xs.exports);class Ys extends qs{constructor(e){super(),e=e||{},this.message=e.message,this.feedbackTopic=e.feedbackTopic,this.tfClient=e.tfClient,this.menuFontSize=e.menuFontSize||"0.8em",this.name=this.message.name,this.header=this.message.header,this.controls=this.message.controls,this.menuEntries=this.message.menu_entries,this.dragging=!1,this.timeoutHandle=null,this.tfTransform=new r.Transform,this.pose=new r.Pose,this.setPoseFromClientBound=this.setPoseFromClient.bind(this),this.onMouseDownBound=this.onMouseDown.bind(this),this.onMouseUpBound=this.onMouseUp.bind(this),this.onButtonClickBound=this.onButtonClick.bind(this),this.onMenuSelectBound=this.onMenuSelect.bind(this),this.setPoseFromServer(this.message.pose),this.tfUpdateBound=this.tfUpdate.bind(this)}subscribeTf(){0===this.message.header.stamp.secs&&0===this.message.header.stamp.nsecs&&this.tfClient.subscribe(this.message.header.frame_id,this.tfUpdateBound)}unsubscribeTf(){this.tfClient.unsubscribe(this.message.header.frame_id,this.tfUpdateBound)}emitServerPoseUpdate(){var e=new r.Pose(this.pose);e.applyTransform(this.tfTransform),this.emit("pose",e)}setPoseFromServer(e){this.pose=new r.Pose(e),this.emitServerPoseUpdate()}tfUpdate(e){this.tfTransform=new r.Transform(e),this.emitServerPoseUpdate()}setPoseFromClient(e){this.pose=new r.Pose(e);var t=this.tfTransform.clone();t.rotation.invert(),t.translation.multiplyQuaternion(t.rotation),t.translation.x*=-1,t.translation.y*=-1,t.translation.z*=-1,this.pose.applyTransform(t),this.sendFeedback(1,void 0,0,e.controlName),this.dragging&&(this.timeoutHandle&&clearTimeout(this.timeoutHandle),this.timeoutHandle=setTimeout(this.setPoseFromClient.bind(this,e),250))}onButtonClick(e){this.sendFeedback(3,e.clickPosition,0,e.controlName)}onMouseDown(e){this.sendFeedback(4,e.clickPosition,0,e.controlName),this.dragging=!0}onMouseUp(e){this.sendFeedback(5,e.clickPosition,0,e.controlName),this.dragging=!1,this.timeoutHandle&&clearTimeout(this.timeoutHandle)}onMenuSelect(e){this.sendFeedback(2,void 0,e.id,e.controlName)}sendFeedback(e,t,i,r){var n=void 0!==t;t=t||{x:0,y:0,z:0};var o={header:this.header,client_id:this.clientID,marker_name:this.name,control_name:r,event_type:e,pose:this.pose,mouse_point:t,mouse_point_valid:n,menu_entry_id:i};this.feedbackTopic.publish(o)}}class Zs extends Ss.Object3D{constructor(e){super(),e=e||{},this.tfClient=e.tfClient,this.frameID=e.frameID;var t=e.object;this.pose=e.pose||new r.Pose,this.visible=!1,this.add(t),this.updatePose(this.pose),this.tfUpdate=function(e){var t=new r.Transform(e),i=new r.Pose(this.pose);i.applyTransform(t),this.updatePose(i),this.visible=!0},this.tfUpdateBound=this.tfUpdate.bind(this),this.tfClient.subscribe(this.frameID,this.tfUpdateBound)}updatePose(e){this.position.set(e.position.x,e.position.y,e.position.z),this.quaternion.set(e.orientation.x,e.orientation.y,e.orientation.z,e.orientation.w),this.updateMatrixWorld(!0)}unsubscribeTf(){this.tfClient.unsubscribe(this.frameID,this.tfUpdateBound)}}class Js extends Ss.ArrowHelper{constructor(e){var t=(e=e||{}).origin||new Ss.Vector3(0,0,0),i=e.direction||new Ss.Vector3(1,0,0),r=e.length||1;e.headLength,e.shaftDiameter,e.headDiameter,e.material||new Ss.MeshBasicMaterial,super(i,t,r,16711680)}dispose(){void 0!==this.line&&(this.line.material.dispose(),this.line.geometry.dispose()),void 0!==this.cone&&(this.cone.material.dispose(),this.cone.geometry.dispose())}}class Ks extends Ss.Object3D{constructor(e){super();var t=this,i=(e=e||{}).shaftRadius||.008,r=e.headRadius||.023,n=e.headLength||.1,o=e.scale||1,a=e.lineType||"full",s=e.lineDashLength||.1;function c(e){var r=new Ss.Color;r.setRGB(e.x,e.y,e.z);var n=new Ss.MeshBasicMaterial({color:r.getHex()}),o=new Ss.Vector3;o.crossVectors(e,new Ss.Vector3(0,-1,0));var c=new Ss.Quaternion;c.setFromAxisAngle(o,.5*Math.PI);var h,l=new Ss.Mesh(t.headGeom,n);if(l.position.copy(e),l.position.multiplyScalar(.95),l.quaternion.copy(c),l.updateMatrix(),t.add(l),"dashed"===a)for(var u=s,p=0;u/2+3*u*p+u/2<=1;++p){var d=new Ss.CylinderGeometry(i,i,u);(h=new Ss.Mesh(d,n)).position.copy(e),h.position.multiplyScalar(u/2+3*u*p),h.quaternion.copy(c),h.updateMatrix(),t.add(h)}else"full"===a?((h=new Ss.Mesh(t.lineGeom,n)).position.copy(e),h.position.multiplyScalar(.45),h.quaternion.copy(c),h.updateMatrix(),t.add(h)):console.warn("[Axes]: Unsupported line type. Not drawing any axes.")}this.scale.set(o,o,o),this.lineGeom=new Ss.CylinderGeometry(i,i,1-n),this.headGeom=new Ss.CylinderGeometry(0,r,n),c(new Ss.Vector3(1,0,0)),c(new Ss.Vector3(0,1,0)),c(new Ss.Vector3(0,0,1))}}class Qs extends Ss.Object3D{constructor(e){var t=(e=e||{}).num_cells||10,i=e.color||"#cccccc",r=e.lineWidth||1,n=e.cellSize||1;super();for(var o=new Ss.LineBasicMaterial({color:i,linewidth:r}),a=0;a<=t;++a){var s=n*t/2,c=s-a*n,h=new Ss.Geometry;h.vertices.push(new Ss.Vector3(-s,c,0),new Ss.Vector3(s,c,0));var l=new Ss.Geometry;l.vertices.push(new Ss.Vector3(c,-s,0),new Ss.Vector3(c,s,0)),this.add(new Ss.Line(h,o)),this.add(new Ss.Line(l,o))}}}class $s extends Ss.Mesh{constructor(e){var t=(e=e||{}).message,i=e.opacity||1,r=e.color||{r:255,g:255,b:255,a:255},n=t.info,o=n.origin,a=n.width,s=n.height,c=new Ss.PlaneBufferGeometry(a,s),h=new Uint8Array(a*s*4),l=new Ss.DataTexture(h,a,s,Ss.RGBAFormat);l.flipY=!0,l.minFilter=Ss.NearestFilter,l.magFilter=Ss.NearestFilter,l.needsUpdate=!0;var u=new Ss.MeshBasicMaterial({map:l,transparent:i<1,opacity:i});u.side=Ss.DoubleSide,super(c,u),Object.assign(this,e),this.quaternion.copy(new Ss.Quaternion(o.orientation.x,o.orientation.y,o.orientation.z,o.orientation.w)),this.position.x=a*n.resolution/2+o.position.x,this.position.y=s*n.resolution/2+o.position.y,this.position.z=o.position.z,this.scale.x=n.resolution,this.scale.y=n.resolution;var p=t.data;this.color=r,this.material=u,this.texture=l;for(var d=0;d<s;d++)for(var f=0;f<a;f++){var m=s-d-1,v=f+m*a,g=this.getValue(v,m,f,p),y=(r=this.getColor(v,m,f,g),4*(f+d*a));h.set(r,y)}l.needsUpdate=!0}dispose(){this.material.dispose(),this.texture.dispose()}getValue(e,t,i,r){return r[e]}getColor(e,t,i,r){return[r*this.color.r/255,r*this.color.g/255,r*this.color.b/255,255]}}class ec{constructor(){this._children=[null,null,null,null,null,null,null,null],this.value=null}createChildNodeAt(e,t){this._children[t%8]=e}hasChildAt(e){return null!==this._children[e%8]}getChildAt(e){return this._children[e%8]}isLeafNode(){for(let e=0;e<8;++e)if(null!==this._children[e])return!1;return!0}hasChildren(){for(let e=0;e<8;++e)if(null!==this._children[e])return!0;return!1}}var tc="occupied",ic="free",rc="solid",nc="color";function oc(e,t){return this.buffer=e.buffer,this.length=e.length,this.isLittleEndian=void 0===t||!!t,this._dataView=new DataView(this.buffer),this._cursor=0,[{kind:"Int8",width:1},{kind:"Uint8",width:1},{kind:"Int16",width:2},{kind:"Uint16",width:2},{kind:"Int32",width:4},{kind:"Uint32",width:4},{kind:"BigInt64",width:8},{kind:"BigUint64",width:8},{kind:"Float32",width:4},{kind:"Float64",width:8}].forEach((e=>{const t="read"+e.kind,i="get"+e.kind;this[t]=()=>{if(this._cursor+e.width>this.length)throw new Error("Cannot read data stream. Overflow. Len="+this.length+" crsr="+this._cursor);const t=this._dataView[i](this._cursor,this.isLittleEndian);return this._cursor+=e.width,t}})),Object.defineProperty(this,"isEnd",{get:()=>this.cursor>=this.data.length}),this}class ac{constructor(e){this.resolution=void 0!==e.resolution?e.resolution:1,this.color=new Ss.Color(void 0!==e.color?e.color:"green"),this.opacity=void 0!==e.opacity?e.opacity:1,this.voxelRenderMode=void 0!==e.voxelRenderMode?e.voxelRenderMode:tc,this._rootNode=null,this._treeDepth=16,this._treeMaxKeyVal=32768,this._BINARY_UNALLOCATED=0,this._BINARY_LEAF_FREE=1,this._BINARY_LEAF_OCCUPIED=2,this._BINARY_HAS_CHILDREN=3,this._BINARY_CHILD_BUILD_TABLE={},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_FREE]=function(e){e.value=this._defaultFreeValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_OCCUPIED]=function(e){e.value=this._defaultOccupiedValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_HAS_CHILDREN]=function(e){e.value=null},this._FACES=[{normal:[-1,0,0],vertices:[[0,1,0],[0,0,0],[0,1,1],[0,0,1]],childIndex:[1,3,5,7]},{normal:[1,0,0],vertices:[[1,1,1],[1,0,1],[1,1,0],[1,0,0]],childIndex:[0,2,4,6]},{normal:[0,-1,0],vertices:[[1,0,1],[0,0,1],[1,0,0],[0,0,0]],childIndex:[2,3,6,7]},{normal:[0,1,0],vertices:[[0,1,1],[1,1,1],[0,1,0],[1,1,0]],childIndex:[0,1,4,5]},{normal:[0,0,-1],vertices:[[1,0,0],[0,0,0],[1,1,0],[0,1,0]],childIndex:[4,5,6,7]},{normal:[0,0,1],vertices:[[0,0,1],[1,0,1],[0,1,1],[1,1,1]],childIndex:[0,1,2,3]}],this.nodeSizeTable=new Array(this._treeDepth);let t=this.resolution;for(let e=this._treeDepth-1;e>=0;--e)this.nodeSizeTable[e]=t,t*=2;this._defaultOccupiedValue=!0,this._defaultFreeValue=!1,this.object=null}searchAtDepth(e,t){t=void 0!==t&&t>0?t:this._treeDepth;const i=this._adjustKeyAtDepth(e,t),r=this._treeDepth-t;let n=this._rootNode;for(let e=this._treeDepth-1;e>=r;--e){const t=this._computeChildIdx(i,e);if(!n.hasChildAt(t))return n.hasChildren()?null:n;n=n.getChildAt(t)}return n}_computeCoordFromKey(e){return e.map((e=>this.resolution*(e-this._treeMaxKeyVal)))}_computeChildIdx(e,t){let i=0;return e[0]&1<<t&&(i+=1),e[1]&1<<t&&(i+=2),e[2]&1<<t&&(i+=4),i}_computeKeyFromChildIdx(e,t,i){const r=this._treeDepth-i-1;return[t[0]+(!!(1&e)<<r),t[1]+(!!(2&e)<<r),t[2]+(!!(4&e)<<r)]}_adjustKeyAtDepth(e,t){let i=this._treeDepth-t;return 0===i?e:e.map((e=>(e-this._treeMaxKeyVal>>i<<i)+(1<<i-1)+this._treeMaxKeyVal))}_newNode(){return new ec}readBinary(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new oc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();const r=t.readUint16();let n=8;for(;0!==n;){--n;const t=(r&3<<2*n)>>2*n;if(t!==this._BINARY_UNALLOCATED){let r=this._newNode();this._BINARY_CHILD_BUILD_TABLE[t].bind(this)(r),e.createChildNodeAt(r,n),t===this._BINARY_HAS_CHILDREN&&i.push(r)}}}}read(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new oc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();this._readNodeData(t,e);const r=t.readUint8();let n=8;for(;0!==n;){--n;if(r&1<<n){let t=this._newNode();t.value=null,e.createChildNodeAt(t,n),i.push(t)}}}}_readNodeData(e,t){console.error("Not implemented")}buildGeometry(){console.assert(null!==this._rootNode,"No tree data");const{vertices:e,normals:t,colors:i,indices:r}=this._buildFaces(),n=new Ss.BufferGeometry,o=new Ss.MeshBasicMaterial({color:"white",flatShading:!0,vertexColors:Ss.VertexColors,transparent:this.opacity<1,opacity:this.opacity});n.addAttribute("position",new Ss.BufferAttribute(new Float32Array(e),3)),n.addAttribute("normal",new Ss.BufferAttribute(new Float32Array(t),3)),n.addAttribute("color",new Ss.BufferAttribute(new Float32Array(i),3)),n.setIndex(r);const a=new Ss.Mesh(n,o);this.object=new Ss.Object3D,this.object.add(a)}_traverseLeaves(e){let t=new Array;for(t.push({node:this._rootNode,depth:0,key:[0,0,0]});t.length>0;){let i=t.pop();if(i.node.isLeafNode())e(i.node,i.key,i.depth-1);else for(let e=0;e<8;++e)if(i.node.hasChildAt(e)){const r=this._computeKeyFromChildIdx(e,i.key,i.depth);t.push({node:i.node.getChildAt(e),depth:i.depth+1,key:r})}}}_obtainColor(e){return this.color}_checkOccupied(e){return!1!==e.value}_buildFaces(){let e={vertices:[],indices:[],normals:[],colors:[],_insertFace:function(e,t,i,r){const n=this.vertices.length/3;e.vertices.forEach((function(e){this.vertices.push(t[0]+e[0]*i,t[1]+e[1]*i,t[2]+e[2]*i)}));const o=[r.r,r.g,r.b];this.colors.push(...o,...o,...o,...o),this.normals.push(...e.normal,...e.normal,...e.normal,...e.normal),this.indices.push(n,n+1,n+2,n+2,n+1,n+3)},_checkNeighborsTouchingFace:function(e,t,i){let r=new Array;for(r.push(t);0!==r.length;){const t=r.pop();t.hasChildren()&&e.childIndex.forEach((function(e){if(!t.hasChildAt(e))return!0;{const n=t.getChildAt(e),o=this._checkOccupied(t);(o&&i===ROS3D.OcTreeVoxelRenderMode.OCCUPIED||!o&&i===ic)&&r.push(n)}}))}return!1}};return this._traverseLeaves(((t,i,r)=>{const n=this._computeCoordFromKey(i),o=this.nodeSizeTable[r],a=this._treeDepth-r,s=this._checkOccupied(t);(s||this.voxelRenderMode!==tc)&&(s&&this.voxelRenderMode===ic||this._FACES.forEach((function(s){const c=[i[0]+s.normal[0]*a*a,i[1]+s.normal[1]*a*a,i[2]+s.normal[2]*a*a],h=this.searchAtDepth(c);null===h?e._insertFace(s,n,o,this._obtainColor(t)):r<this._treeDepth&&e._checkNeighborsTouchingFace(s,h,this.voxelRenderMode)})))})),{vertices:e.vertices,normals:e.normals,colors:e.colors,indices:e.indices}}}class sc extends ac{constructor(e){super(e),this._defaultOccupiedValue=1,this._defaultFreeValue=-1,this.occupancyThreshold=void 0!==e.occupancyThreshold?e.occupancyThreshold:1e-7,this.useFlatColoring=void 0!==e.colorMode&&e.colorMode===rc,this.palette=void 0!==e.palette?e.palette.map((e=>new Ss.Color(e))):[{r:0,g:0,b:128},{r:0,g:255,b:0},{r:255,g:255,b:0},{r:255,g:128,b:0},{r:255,g:0,b:0}],this.paletteScale=void 0!==e.paletteScale?e.paletteScale:1}_readNodeData(e,t){t.value=e.readFloat32()}_obtainColor(e){if(this.useFlatColoring)return this.color;const t=1/(1+Math.exp(-e.value*this.paletteScale))*this.palette.length,i=Math.trunc(t),r=t-i;return i<0?this.palette[0]:i>=this.palette.length-1?this.palette[this.palette.length-1]:{r:r*this.palette[i].r+(1-r)*this.palette[i+1].r,g:r*this.palette[i].g+(1-r)*this.palette[i+1].g,b:r*this.palette[i].b+(1-r)*this.palette[i+1].b}}_checkOccupied(e){return e.value>=this.occupancyThreshold}}class cc extends sc{constructor(e){super(e),this.useOwnColor=void 0!==e.palette&&e.colorMode===nc}_readNodeData(e,t){t.value=e.readFloat32(),t.color={r:e.readUint8(),g:e.readUint8(),b:e.readUint8()}}_obtainColor(e){return this.useOwnColor?e.color:sc.prototype._obtainColor.call(this,e)}}class hc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.keep=e.keep||1,this.sns=[],this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Odometry"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){this.sns.length>=this.keep&&(this.sns[0].unsubscribeTf(),this.rootObject.remove(this.sns[0]),this.sns.shift()),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sns.push(new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:i})),this.rootObject.add(this.sns[this.sns.length-1])}}class lc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Path"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t=new Ss.Geometry,i=0;i<e.poses.length;i++){var r=new Ss.Vector3(e.poses[i].pose.position.x,e.poses[i].pose.position.y,e.poses[i].pose.position.z);t.vertices.push(r)}t.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(t,n);this.sn=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class uc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/point",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.radius=e.radius||.2,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PointStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));var t=new Ss.SphereGeometry(this.radius),i=new Ss.MeshBasicMaterial({color:this.color}),r=new Ss.Mesh(t,i);r.position.set(e.point.x,e.point.y,e.point.z),this.sn=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.sn)}}class pc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PolygonStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Geometry,r=0;r<e.polygon.points.length;r++)t=new Ss.Vector3(e.polygon.points[r].x,e.polygon.points[r].y,e.polygon.points[r].z),i.vertices.push(t);t=new Ss.Vector3(e.polygon.points[0].x,e.polygon.points[0].y,e.polygon.points[0].z),i.vertices.push(t),i.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(i,n);this.sn=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class dc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/pose",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.position.x,e.pose.position.y,e.pose.position.z);var t=new Ss.Quaternion(e.pose.orientation.x,e.pose.orientation.y,e.pose.orientation.z,e.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class fc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseArray"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Object3D,r=0;r<e.poses.length;r++){var n=new Ss.Geometry,o=new Ss.Vector3(e.poses[r].position.x,e.poses[r].position.y,e.poses[r].position.z);n.vertices.push(o);var a=new Ss.Quaternion(e.poses[r].orientation.x,e.poses[r].orientation.y,e.poses[r].orientation.z,e.poses[r].orientation.w),s=new Ss.Vector3(this.length,0,0),c=new Ss.Vector3(.8*this.length,.2*this.length,0),h=new Ss.Vector3(.8*this.length,.2*-this.length,0);s.applyQuaternion(a),c.applyQuaternion(a),h.applyQuaternion(a),n.vertices.push(s.add(o)),n.vertices.push(c.add(o)),n.vertices.push(h.add(o)),n.vertices.push(s),n.computeLineDistances();var l=new Ss.LineBasicMaterial({color:this.color});t=new Ss.Line(n,l),i.add(t)}this.sn=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class mc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/PoseWithCovariance",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseWithCovarianceStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class vc extends Ss.Object3D{constructor(e){super(),e=e||{},this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.max_pts=e.max_pts||1e4,this.pointRatio=e.pointRatio||1,this.messageRatio=e.messageRatio||1,this.messageCount=0,this.material=e.material||{},this.colorsrc=e.colorsrc,this.colormap=e.colormap,("color"in e||"size"in e||"texture"in e)&&console.warn('toplevel "color", "size" and "texture" options are deprecated.They should beprovided within a "material" option, e.g. :  { tfClient, material : { color: mycolor, size: mysize, map: mytexture }, ... }'),this.sn=null}setup(e,t,i){if(null===this.sn){i=i||[],this.fields={};for(var r=0;r<i.length;r++)this.fields[i[r].name]=i[r];if(this.geom=new Ss.BufferGeometry,this.positions=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("position",this.positions.setDynamic(!0)),!this.colorsrc&&this.fields.rgb&&(this.colorsrc="rgb"),this.colorsrc){var n=this.fields[this.colorsrc];if(n){this.colors=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("color",this.colors.setDynamic(!0));var o=n.offset;this.getColor=[function(e,t,i){return e.getInt8(t+o,i)},function(e,t,i){return e.getUint8(t+o,i)},function(e,t,i){return e.getInt16(t+o,i)},function(e,t,i){return e.getUint16(t+o,i)},function(e,t,i){return e.getInt32(t+o,i)},function(e,t,i){return e.getUint32(t+o,i)},function(e,t,i){return e.getFloat32(t+o,i)},function(e,t,i){return e.getFloat64(t+o,i)}][n.datatype-1],this.colormap=this.colormap||function(e){return new Ss.Color(e)}}else console.warn('unavailable field "'+this.colorsrc+'" for coloring.')}this.material.isMaterial||(this.colors&&void 0===this.material.vertexColors&&(this.material.vertexColors=Ss.VertexColors),this.material=new Ss.PointsMaterial(this.material)),this.object=new Ss.Points(this.geom,this.material),this.sn=new Zs({frameID:e,tfClient:this.tfClient,object:this.object}),this.rootObject.add(this.sn)}return this.messageCount++%this.messageRatio==0}update(e){this.geom.setDrawRange(0,e),this.positions.needsUpdate=!0,this.positions.updateRange.count=e*this.positions.itemSize,this.colors&&(this.colors.needsUpdate=!0,this.colors.updateRange.count=e*this.colors.itemSize)}}class gc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/scan",this.compression=e.compression||"cbor",this.points=new vc(e),this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,compression:this.compression,queue_length:1,messageType:"sensor_msgs/LaserScan"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){if(this.points.setup(e.header.frame_id)){for(var t=e.ranges.length,i=0,r=0;r<t;r+=this.points.pointRatio){var n=e.ranges[r];if(n>=e.range_min&&n<=e.range_max){var o=e.angle_min+r*e.angle_increment;this.points.positions.array[i++]=n*Math.cos(o),this.points.positions.array[i++]=n*Math.sin(o),this.points.positions.array[i++]=0}}this.points.update(i/3)}}}class yc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/gps/fix",this.rootObject=e.rootObject||new Ss.Object3D,this.object3d=e.object3d||new Ss.Object3D;var t=e.material||{};this.altitudeNaN=e.altitudeNaN||0,this.keep=e.keep||100,this.convert=e.convert||function(e,t,i){return new Ss.Vector3(e,t,i)},this.count=0,this.next1=0,this.next2=this.keep,this.geom=new Ss.BufferGeometry,this.vertices=new Ss.BufferAttribute(new Float32Array(6*this.keep),3),this.geom.addAttribute("position",this.vertices),this.material=t.isMaterial?t:new Ss.LineBasicMaterial(t),this.line=new Ss.Line(this.geom,this.material),this.rootObject.add(this.object3d),this.rootObject.add(this.line),this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"sensor_msgs/NavSatFix"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){var t=isNaN(e.altitude)?this.altitudeNaN:e.altitude,i=this.convert(e.longitude,e.latitude,t);this.object3d.position.copy(i),this.object3d.updateMatrixWorld(!0),this.vertices.array[3*this.next1]=i.x,this.vertices.array[3*this.next1+1]=i.y,this.vertices.array[3*this.next1+2]=i.z,this.vertices.array[3*this.next2]=i.x,this.vertices.array[3*this.next2+1]=i.y,this.vertices.array[3*this.next2+2]=i.z,this.vertices.needsUpdate=!0,this.next1=(this.next1+1)%this.keep,this.next2=this.next1+this.keep,this.count=Math.min(this.count+1,this.keep),this.geom.setDrawRange(this.next2-this.count,this.count)}}function xc(e,t,i,r){var n,o=0,a=0,s=0,c=e.length,h=t.length,l=((r=r||1)-1)*(i=i||h)*8;for(n=0;n<c&&s<h;n++)o=(o<<6)+xc.e[e.charAt(n)],(a+=6)>=8&&(a-=8,t[s++]=o>>>a&255,s%i==0&&(n+=Math.ceil((l-a)/6),(a%=8)>0&&(o=xc.e[e.charAt(n)])));return Math.floor(s/i)}xc.S="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",xc.e={};for(var bc=0;bc<64;bc++)xc.e[xc.S.charAt(bc)]=bc;class wc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/points",this.throttle_rate=e.throttle_rate||null,this.compression=e.compression||"cbor",this.max_pts=e.max_pts||1e4,this.points=new vc(e),this.rosTopic=void 0,this.buffer=null,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/PointCloud2",throttle_rate:this.throttle_rate,queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){if(this.points.setup(e.header.frame_id,e.point_step,e.fields)){var t,i=this.points.pointRatio,r=this.max_pts*e.point_step;e.data.buffer?(this.buffer=e.data.slice(0,Math.min(e.data.byteLength,r)),t=Math.min(e.height*e.width/i,this.points.positions.array.length/3)):((!this.buffer||this.buffer.byteLength<r)&&(this.buffer=new Uint8Array(r)),t=xc(e.data,this.buffer,e.point_step,i),i=1);for(var n,o,a=new DataView(this.buffer.buffer),s=!e.is_bigendian,c=this.points.fields.x.offset,h=this.points.fields.y.offset,l=this.points.fields.z.offset,u=0;u<t;u++)n=u*i*e.point_step,this.points.positions.array[3*u]=a.getFloat32(n+c,s),this.points.positions.array[3*u+1]=a.getFloat32(n+h,s),this.points.positions.array[3*u+2]=a.getFloat32(n+l,s),this.points.colors&&(o=this.points.colormap(this.points.getColor(a,n,s)),this.points.colors.array[3*u]=o.r,this.points.colors.array[3*u+1]=o.g,this.points.colors.array[3*u+2]=o.b);this.points.update(t)}}}class _c extends Ss.Object3D{constructor(e){super(),e=e||{},this.frame_id=e.frame_id,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.axes=new Ks({shaftRadius:e.shaftRadius||.025,headRadius:e.headRaidus||.07,headLength:e.headLength||.2,scale:e.scale||1,lineType:e.lineType||"full",lineDashLength:e.lineDashLength||.1}),this.sn=new Zs({frameID:this.frame_id,tfClient:this.tfClient,object:this.axes}),this.rootObject.add(this.sn)}}class Mc extends Ss.Object3D{constructor(e){var t=(e=e||{}).urdfModel,i=e.path||"/",n=e.tfClient,o=e.tfPrefix||"",a=e.loader;super();var s=t.links;for(var c in s)for(var h=s[c],l=0;l<h.visuals.length;l++){var u=h.visuals[l];if(u&&u.geometry){var p=o+"/"+h.name,d=null;if(u.material&&u.material.color){var f=u.material&&u.material.color;d=As(f.r,f.g,f.b,f.a)}if(u.geometry.type===r.URDF_MESH){var m=u.geometry.filename,v=m.indexOf("package://");-1!==v&&(m=m.substr(v+"package://".length));var g=m.substr(-3).toLowerCase();if(Bs.loaders[g]){var y=new Fs({path:i,resource:m,loader:a,material:d});h.visuals[l].geometry.scale&&y.scale.copy(u.geometry.scale);var x=new Zs({frameID:p,pose:u.origin,tfClient:n,object:y});x.name=u.name,this.add(x)}else console.warn("Could not load geometry mesh: "+m)}else{var b=this.createShapeMesh(u,e),w=new Zs({frameID:p,pose:u.origin,tfClient:n,object:b});w.name=u.name,this.add(w)}}}}createShapeMesh(e,t){var i,n=null;switch(n||(n=As(0,0,0,1)),e.geometry.type){case r.URDF_BOX:var o=e.geometry.dimension,a=new Ss.BoxGeometry(o.x,o.y,o.z);i=new Ss.Mesh(a,n);break;case r.URDF_CYLINDER:var s=e.geometry.radius,c=e.geometry.length,h=new Ss.CylinderGeometry(s,s,c,16,1,!1);(i=new Ss.Mesh(h,n)).quaternion.setFromAxisAngle(new Ss.Vector3(1,0,0),.5*Math.PI);break;case r.URDF_SPHERE:var l=new Ss.SphereGeometry(e.geometry.radius,16);i=new Ss.Mesh(l,n)}return i}unsubscribeTf(){this.children.forEach((function(e){"function"==typeof e.unsubscribeTf&&e.unsubscribeTf()}))}}class Ec{constructor(e){e=e||{},this.mouseHandler=e.mouseHandler,this.hoverObjs={},this.mouseHandler.addEventListener("mouseover",this.onMouseOver.bind(this)),this.mouseHandler.addEventListener("mouseout",this.onMouseOut.bind(this))}onMouseOver(e){this.hoverObjs[e.currentTarget.uuid]=e.currentTarget}onMouseOut(e){var t=e.currentTarget.uuid;t in this.hoverObjs&&delete this.hoverObjs[t]}renderHighlights(e,t,i){this.makeEverythingInvisible(e),this.makeHighlightedVisible(e);var r=e.overrideMaterial;e.overrideMaterial=new Ss.MeshBasicMaterial({fog:!1,opacity:.5,transparent:!0,depthTest:!0,depthWrite:!1,polygonOffset:!0,polygonOffsetUnits:-1,side:Ss.DoubleSide}),t.render(e,i),e.overrideMaterial=r,this.restoreVisibility(e)}makeEverythingInvisible(e){e.traverse((function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.previousVisibility=e.visible,e.visible=!1)}))}makeHighlightedVisible(e){var t=function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.visible=!0)};for(var i in this.hoverObjs){var r=this.hoverObjs[i];r.visible=!0,r.traverse(t)}}restoreVisibility(e){e.traverse(function(e){e.hasOwnProperty("previousVisibility")&&(e.visible=e.previousVisibility)}.bind(this))}}class Tc extends Ss.EventDispatcher{constructor(e){super(),this.renderer=e.renderer,this.camera=e.camera,this.rootObject=e.rootObject,this.fallbackTarget=e.fallbackTarget,this.lastTarget=this.fallbackTarget,this.dragging=!1;this.listeners={},["contextmenu","click","dblclick","mouseout","mousedown","mouseup","mousemove","mousewheel","DOMMouseScroll","touchstart","touchend","touchcancel","touchleave","touchmove"].forEach((function(e){this.listeners[e]=this.processDomEvent.bind(this),this.renderer.domElement.addEventListener(e,this.listeners[e],!1)}),this)}processDomEvent(e){e.preventDefault();var t,i,r=e.target,n=r.getBoundingClientRect();if(-1!==e.type.indexOf("touch")){t=0,i=0;for(var o=0;o<e.touches.length;++o)t+=e.touches[o].clientX,i+=e.touches[o].clientY;t/=e.touches.length,i/=e.touches.length}else t=e.clientX,i=e.clientY;var a=t-n.left-r.clientLeft+r.scrollLeft,s=i-n.top-r.clientTop+r.scrollTop,c=a/r.clientWidth*2-1,h=-s/r.clientHeight*2+1,l=new Ss.Vector2(c,h),u=new Ss.Raycaster;u.linePrecision=.001,u.setFromCamera(l,this.camera);var p={mousePos:l,mouseRay:u.ray,domEvent:e,camera:this.camera,intersection:this.lastIntersection};if("mouseout"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"mouseout",p),void(this.lastTarget=null);if("touchleave"===e.type||"touchend"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"touchend",p),void(this.lastTarget=null);if(this.dragging)return this.notify(this.lastTarget,e.type,p),void(("mouseup"===e.type&&2===e.button||"click"===e.type||"touchend"===e.type)&&(this.dragging=!1));r=this.lastTarget;var d;if((d=u.intersectObject(this.rootObject,!0)).length>0?(r=d[0].object,p.intersection=this.lastIntersection=d[0]):r=this.fallbackTarget,r!==this.lastTarget&&e.type.match(/mouse/)){var f=this.notify(r,"mouseover",p);0===f?this.notify(this.lastTarget,"mouseout",p):1===f&&(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(r,"mouseover",p),this.notify(this.lastTarget,"mouseout",p))}r!==this.lastTarget&&e.type.match(/touch/)&&(this.notify(r,e.type,p)?(this.notify(this.lastTarget,"touchleave",p),this.notify(this.lastTarget,"touchend",p)):(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(this.lastTarget,"touchmove",p),this.notify(this.lastTarget,"touchend",p)));this.notify(r,e.type,p),"mousedown"!==e.type&&"touchstart"!==e.type&&"touchmove"!==e.type||(this.dragging=!0),this.lastTarget=r}notify(e,t,i){for(i.type=t,i.cancelBubble=!1,i.continueBubble=!1,i.stopPropagation=function(){i.cancelBubble=!0},i.continuePropagation=function(){i.continueBubble=!0},i.currentTarget=e;i.currentTarget;){if(i.currentTarget.dispatchEvent&&i.currentTarget.dispatchEvent instanceof Function){if(i.currentTarget.dispatchEvent(i),i.cancelBubble)return this.dispatchEvent(i),0;if(i.continueBubble)return 2}i.currentTarget=i.currentTarget.parent}return 1}}class Sc extends Ss.EventDispatcher{constructor(e){super();var t=this,i=(e=e||{}).scene;this.camera=e.camera,this.center=new Ss.Vector3,this.userZoom=!0,this.userZoomSpeed=e.userZoomSpeed||1,this.userRotate=!0,this.userRotateSpeed=e.userRotateSpeed||1,this.autoRotate=e.autoRotate,this.autoRotateSpeed=e.autoRotateSpeed||2,this.displayPanAndZoomFrame=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,this.lineTypePanAndZoomFrame=e.dashedPanAndZoomFrame||"full",this.camera.up=new Ss.Vector3(0,0,1);var r=1800,n=new Ss.Vector2,o=new Ss.Vector2,a=new Ss.Vector2,s=new Ss.Vector2,c=new Ss.Vector2,h=new Ss.Vector2,l=new Ss.Vector3,u=new Ss.Vector3,p=new Ss.Vector3,d=new Ss.Vector3,f=new Array(2),m=new Array(2);this.phiDelta=0,this.thetaDelta=0,this.scale=1,this.lastPosition=new Ss.Vector3;var v=-1,g=0,y=1,x=2,b=v;function w(e,t,i){var r=new Ss.Vector3;new Ss.Vector3;r.subVectors(t,e.origin);var n=e.direction.dot(i);if(Math.abs(n)<e.precision)return null;var o=i.dot(r)/n;return e.direction.clone().multiplyScalar(o)}function _(e){if(t.userZoom){var i=e.domEvent;(void 0!==i.wheelDelta?i.wheelDelta:-i.detail)>0?t.zoomIn():t.zoomOut(),this.showAxes()}}this.axes=new Ks({shaftRadius:.025,headRadius:.07,headLength:.2,lineType:this.lineTypePanAndZoomFrame}),this.displayPanAndZoomFrame&&(i.add(this.axes),this.axes.traverse((function(e){e.visible=!1}))),this.addEventListener("mousedown",(function(e){var i=e.domEvent;switch(i.preventDefault(),i.button){case 0:b=g,n.set(i.clientX,i.clientY);break;case 1:b=x,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u);break;case 2:b=y,s.set(i.clientX,i.clientY)}this.showAxes()})),this.addEventListener("mouseup",(function(e){t.userRotate&&(b=v)})),this.addEventListener("mousemove",(function(e){var i=e.domEvent;if(b===g)o.set(i.clientX,i.clientY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else if(b===y)c.set(i.clientX,i.clientY),h.subVectors(c,s),h.y>0?t.zoomIn():t.zoomOut(),s.copy(c),this.showAxes();else if(b===x){var f=w(e.mouseRay,t.center,u);if(!f)return;var m=(new Ss.Vector3).subVectors(d.clone(),f.clone());t.center.addVectors(l.clone(),m.clone()),t.camera.position.addVectors(p.clone(),m.clone()),t.update(),t.camera.updateMatrixWorld(),this.showAxes()}})),this.addEventListener("touchstart",(function(e){var i=e.domEvent;switch(i.touches.length){case 1:b=g,n.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY);break;case 2:b=v,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u),f[0]=new Ss.Vector2(i.touches[0].pageX,i.touches[0].pageY),f[1]=new Ss.Vector2(i.touches[1].pageX,i.touches[1].pageY),m[0]=new Ss.Vector2(0,0),m[1]=new Ss.Vector2(0,0)}this.showAxes(),i.preventDefault()})),this.addEventListener("touchmove",(function(e){var i=e.domEvent;if(b===g)o.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else{if(m[0].set(f[0].x-i.touches[0].pageX,f[0].y-i.touches[0].pageY),m[1].set(f[1].x-i.touches[1].pageX,f[1].y-i.touches[1].pageY),m[0].lengthSq()>10&&m[1].lengthSq()>10&&(f[0].set(i.touches[0].pageX,i.touches[0].pageY),f[1].set(i.touches[1].pageX,i.touches[1].pageY),m[0].dot(m[1])>0&&b!==y?b=x:m[0].dot(m[1])<0&&b!==x&&(b=y),b===y)){var s=new Ss.Vector2;s.subVectors(f[0],f[1]),m[0].dot(s)<0&&m[1].dot(s)>0?t.zoomOut():m[0].dot(s)>0&&m[1].dot(s)<0&&t.zoomIn()}if(b===x){var c=w(e.mouseRay,t.center,u);if(!c)return;var h=(new Ss.Vector3).subVectors(d.clone(),c.clone());t.center.addVectors(l.clone(),h.clone()),t.camera.position.addVectors(p.clone(),h.clone()),t.update(),t.camera.updateMatrixWorld()}this.showAxes(),i.preventDefault()}})),this.addEventListener("touchend",(function(e){var t=e.domEvent;1===t.touches.length&&b!==g?(b=g,n.set(t.touches[0].pageX-window.scrollX,t.touches[0].pageY-window.scrollY)):b=v})),this.addEventListener("mousewheel",_),this.addEventListener("DOMMouseScroll",_)}showAxes(){var e=this;this.axes.traverse((function(e){e.visible=!0})),this.hideTimeout&&clearTimeout(this.hideTimeout),this.hideTimeout=setTimeout((function(){e.axes.traverse((function(e){e.visible=!1})),e.hideTimeout=!1}),1e3)}rotateLeft(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta-=e}rotateRight(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta+=e}rotateUp(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta-=e}rotateDown(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta+=e}zoomIn(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale/=e}zoomOut(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale*=e}update(){var e=this.camera.position,t=e.clone().sub(this.center),i=Math.atan2(t.y,t.x),r=Math.atan2(Math.sqrt(t.y*t.y+t.x*t.x),t.z);this.autoRotate&&this.rotateLeft(2*Math.PI/60/60*this.autoRotateSpeed),i+=this.thetaDelta,r+=this.phiDelta;var n=1e-6;r=Math.max(n,Math.min(Math.PI-n,r));var o=t.length();t.set(o*Math.sin(r)*Math.cos(i),o*Math.sin(r)*Math.sin(i),o*Math.cos(r)),t.multiplyScalar(this.scale),e.copy(this.center).add(t),this.camera.lookAt(this.center),o=t.length(),this.axes.position.copy(this.center),this.axes.scale.set(.05*o,.05*o,.05*o),this.axes.updateMatrixWorld(!0),this.thetaDelta=0,this.phiDelta=0,this.scale=1,this.lastPosition.distanceTo(this.camera.position)>0&&(this.dispatchEvent({type:"change"}),this.lastPosition.copy(this.camera.position))}}return e.Arrow=Ns,e.Arrow2=Js,e.Axes=Ks,e.ColorOcTree=cc,e.DepthCloud=Ps,e.Grid=Qs,e.Highlighter=Ec,e.INTERACTIVE_MARKER_BUTTON=2,e.INTERACTIVE_MARKER_BUTTON_CLICK=3,e.INTERACTIVE_MARKER_FIXED=1,e.INTERACTIVE_MARKER_INHERIT=0,e.INTERACTIVE_MARKER_KEEP_ALIVE=0,e.INTERACTIVE_MARKER_MENU=1,e.INTERACTIVE_MARKER_MENU_SELECT=2,e.INTERACTIVE_MARKER_MOUSE_DOWN=4,e.INTERACTIVE_MARKER_MOUSE_UP=5,e.INTERACTIVE_MARKER_MOVE_3D=7,e.INTERACTIVE_MARKER_MOVE_AXIS=3,e.INTERACTIVE_MARKER_MOVE_PLANE=4,e.INTERACTIVE_MARKER_MOVE_ROTATE=6,e.INTERACTIVE_MARKER_MOVE_ROTATE_3D=9,e.INTERACTIVE_MARKER_NONE=0,e.INTERACTIVE_MARKER_POSE_UPDATE=1,e.INTERACTIVE_MARKER_ROTATE_3D=8,e.INTERACTIVE_MARKER_ROTATE_AXIS=5,e.INTERACTIVE_MARKER_VIEW_FACING=2,e.InteractiveMarker=js,e.InteractiveMarkerClient=class{constructor(e){e=e||{},this.ros=e.ros,this.tfClient=e.tfClient,this.topicName=e.topic,this.path=e.path||"/",this.camera=e.camera,this.rootObject=e.rootObject||new Ss.Object3D,this.loader=e.loader,this.menuFontSize=e.menuFontSize||"0.8em",this.interactiveMarkers={},this.updateTopic=null,this.feedbackTopic=null,this.processUpdateBound=this.processUpdate.bind(this),this.topicName&&this.subscribe(this.topicName)}subscribe(e){this.unsubscribe(),this.updateTopic=new r.Topic({ros:this.ros,name:e+"/tunneled/update",messageType:"visualization_msgs/InteractiveMarkerUpdate",compression:"png"}),this.updateTopic.subscribe(this.processUpdateBound),this.feedbackTopic=new r.Topic({ros:this.ros,name:e+"/feedback",messageType:"visualization_msgs/InteractiveMarkerFeedback",compression:"png"}),this.feedbackTopic.advertise(),this.initService=new r.Service({ros:this.ros,name:e+"/tunneled/get_init",serviceType:"demo_interactive_markers/GetInit"});var t=new r.ServiceRequest({});this.initService.callService(t,this.processInit.bind(this))}unsubscribe(){for(var e in this.updateTopic&&this.updateTopic.unsubscribe(this.processUpdateBound),this.feedbackTopic&&this.feedbackTopic.unadvertise(),this.interactiveMarkers)this.eraseIntMarker(e);this.interactiveMarkers={}}processInit(e){var t=e.msg;for(var i in t.erases=[],this.interactiveMarkers)t.erases.push(i);t.poses=[],this.processUpdate(t)}processUpdate(e){e.erases.forEach((function(e){this.eraseIntMarker(e)})),e.poses.forEach((function(e){var t=this.interactiveMarkers[e.name];t&&t.setPoseFromServer(e.pose)})),e.markers.forEach((function(e){var t=this.interactiveMarkers[e.name];t&&this.eraseIntMarker(t.name);var i=new Ys({message:e,feedbackTopic:this.feedbackTopic,tfClient:this.tfClient,menuFontSize:this.menuFontSize});this.interactiveMarkers[e.name]=i;var r=new js({handle:i,camera:this.camera,path:this.path,loader:this.loader});r.name=e.name,this.rootObject.add(r),i.on("pose",(function(e){r.onServerSetPose({pose:e})})),r.addEventListener("user-pose-change",i.setPoseFromClientBound),r.addEventListener("user-mousedown",i.onMouseDownBound),r.addEventListener("user-mouseup",i.onMouseUpBound),r.addEventListener("user-button-click",i.onButtonClickBound),r.addEventListener("menu-select",i.onMenuSelectBound),i.subscribeTf()}))}eraseIntMarker(e){if(this.interactiveMarkers[e]){var t=this.rootObject.getObjectByName(e);this.rootObject.remove(t);var i=this.interactiveMarkers[e];i.unsubscribeTf(),t.removeEventListener("user-pose-change",i.setPoseFromClientBound),t.removeEventListener("user-mousedown",i.onMouseDownBound),t.removeEventListener("user-mouseup",i.onMouseUpBound),t.removeEventListener("user-button-click",i.onButtonClickBound),t.removeEventListener("menu-select",i.onMenuSelectBound),delete this.interactiveMarkers[e],t.dispose()}}},e.InteractiveMarkerControl=Gs,e.InteractiveMarkerHandle=Ys,e.InteractiveMarkerMenu=Vs,e.LaserScan=gc,e.MARKER_ARROW=0,e.MARKER_CUBE=1,e.MARKER_CUBE_LIST=6,e.MARKER_CYLINDER=3,e.MARKER_LINE_LIST=5,e.MARKER_LINE_STRIP=4,e.MARKER_MESH_RESOURCE=10,e.MARKER_POINTS=8,e.MARKER_SPHERE=2,e.MARKER_SPHERE_LIST=7,e.MARKER_TEXT_VIEW_FACING=9,e.MARKER_TRIANGLE_LIST=11,e.Marker=ks,e.MarkerArrayClient=class extends qs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.markers={},this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/MarkerArray",compression:"png"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){e.markers.forEach(function(e){var t=e.ns+e.id;if(0===e.action){var i=!1;if(t in this.markers&&((i=this.markers[t].children[0].update(e))||this.removeMarker(t)),!i){var r=new ks({message:e,path:this.path});this.markers[t]=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}}else if(1===e.action)console.warn('Received marker message with deprecated action identifier "1"');else if(2===e.action)this.removeMarker(t);else if(3===e.action){for(var n in this.markers)this.removeMarker(n);this.markers={}}else console.warn('Received marker message with unknown action identifier "'+e.action+'"')}.bind(this)),this.emit("change")}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MarkerClient=class extends qs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.lifetime=e.lifetime||0,this.markers={},this.rosTopic=void 0,this.updatedTime={},this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}checkTime(e){if((new Date).getTime()-this.updatedTime[e]>this.lifetime)this.removeMarker(e),this.emit("change");else{var t=this;setTimeout((function(){t.checkTime(e)}),100)}}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/Marker",compression:"png"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){var t=e.ns+e.id,i=this.markers[t];if(this.updatedTime[t]=(new Date).getTime(),i?this.removeMarker(t):this.lifetime&&this.checkTime(e.ns+e.id),0===e.action){var r=new ks({message:e,path:this.path});this.markers[t]=new Zs({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}this.emit("change")}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MeshLoader=Bs,e.MeshResource=Fs,e.MouseHandler=Tc,e.NavSatFix=yc,e.OcTree=sc,e.OcTreeClient=class extends qs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/octomap",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.options={},void 0!==e.color&&(this.options.color=e.color),void 0!==e.opacity&&(this.options.opacity=e.opacity),void 0!==e.colorMode&&(this.options.colorMode=e.colorMode),void 0!==e.palette&&(this.options.palette=e.palette),void 0!==e.paletteScale&&(this.options.paletteScale=e.palette),void 0!==e.voxelRenderMode&&(this.options.voxelRenderMode=e.voxelRenderMode),this.currentMap=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"octomap_msgs/Octomap",queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){this.currentMap&&this.currentMap.tfClient&&this.currentMap.unsubscribeTf(),this._processMessagePrivate(e),this.continuous||this.rosTopic.unsubscribe(this.processMessageBound)}_loadOcTree(e){return new Promise(function(t,i){const r=Object.assign({resolution:e.resolution},this.options);let n=null;if(e.binary)n=new ac(r),n.readBinary(e.data);else{const t={OcTree:sc,ColorOcTree:cc};e.id in t&&(console.log(e.id,t),n=new 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s)){if(r=s.length,n)for(o=0;o<r;o++)if("symbol"==typeof s[o]){t=!0;break}t||(s=s.join(this.delimiter))}var l,u=[],p=arguments.length;if(this._all)for(o=0,r=this._all.length;o<r;o++)switch(this.event=s,p){case 1:u.push(this._all[o].call(this,s));break;case 2:u.push(this._all[o].call(this,s,arguments[1]));break;case 3:u.push(this._all[o].call(this,s,arguments[1],arguments[2]));break;default:u.push(this._all[o].apply(this,arguments))}if(h?(l=[],w.call(this,l,e,this.listenerTree,0)):l=this._events[s],"function"==typeof l)switch(this.event=s,p){case 1:u.push(l.call(this));break;case 2:u.push(l.call(this,arguments[1]));break;case 3:u.push(l.call(this,arguments[1],arguments[2]));break;default:for(i=new Array(p-1),a=1;a<p;a++)i[a-1]=arguments[a];u.push(l.apply(this,i))}else if(l&&l.length){if(l=l.slice(),p>3)for(i=new Array(p-1),a=1;a<p;a++)i[a-1]=arguments[a];for(o=0,r=l.length;o<r;o++)switch(this.event=s,p){case 1:u.push(l[o].call(this));break;case 2:u.push(l[o].call(this,arguments[1]));break;case 3:u.push(l[o].call(this,arguments[1],arguments[2]));break;default:u.push(l[o].apply(this,i))}}else if(!this.ignoreErrors&&!this._all&&"error"===s)return arguments[1]instanceof Error?Promise.reject(arguments[1]):Promise.reject("Uncaught, unspecified 'error' event.");return Promise.all(u)},A.prototype.on=function(e,t,i){return this._on(e,t,!1,i)},A.prototype.prependListener=function(e,t,i){return this._on(e,t,!0,i)},A.prototype.onAny=function(e){return this._onAny(e,!1)},A.prototype.prependAny=function(e){return this._onAny(e,!0)},A.prototype.addListener=A.prototype.on,A.prototype._onAny=function(e,t){if("function"!=typeof e)throw new Error("onAny only accepts instances of Function");return this._all||(this._all=[]),t?this._all.unshift(e):this._all.push(e),this},A.prototype._on=function(t,i,r,n){if("function"==typeof t)return this._onAny(t,i),this;if("function"!=typeof i)throw new Error("on only accepts instances of Function");this._events||c.call(this);var o,a=this;return n!==e&&(i=(o=S.call(this,t,i,n))[0],a=o[1]),this._newListener&&this.emit("newListener",t,i),this.wildcard?(_.call(this,t,i,r),a):(this._events[t]?("function"==typeof this._events[t]&&(this._events[t]=[this._events[t]]),r?this._events[t].unshift(i):this._events[t].push(i),!this._events[t].warned&&this._maxListeners>0&&this._events[t].length>this._maxListeners&&(this._events[t].warned=!0,l.call(this,this._events[t].length,t))):this._events[t]=i,a)},A.prototype.off=function(e,t){if("function"!=typeof t)throw new Error("removeListener only takes instances of Function");var r,n=[];if(this.wildcard){var o="string"==typeof e?e.split(this.delimiter):e.slice();if(!(n=w.call(this,null,o,this.listenerTree,0)))return this}else{if(!this._events[e])return this;r=this._events[e],n.push({_listeners:r})}for(var a=0;a<n.length;a++){var s=n[a];if(r=s._listeners,i(r)){for(var c=-1,h=0,l=r.length;h<l;h++)if(r[h]===t||r[h].listener&&r[h].listener===t||r[h]._origin&&r[h]._origin===t){c=h;break}if(c<0)continue;return this.wildcard?s._listeners.splice(c,1):this._events[e].splice(c,1),0===r.length&&(this.wildcard?delete s._listeners:delete this._events[e]),this._removeListener&&this.emit("removeListener",e,t),this}(r===t||r.listener&&r.listener===t||r._origin&&r._origin===t)&&(this.wildcard?delete s._listeners:delete this._events[e],this._removeListener&&this.emit("removeListener",e,t))}return this.listenerTree&&E(this.listenerTree),this},A.prototype.offAny=function(e){var t,i=0,r=0;if(e&&this._all&&this._all.length>0){for(i=0,r=(t=this._all).length;i<r;i++)if(e===t[i])return t.splice(i,1),this._removeListener&&this.emit("removeListenerAny",e),this}else{if(t=this._all,this._removeListener)for(i=0,r=t.length;i<r;i++)this.emit("removeListenerAny",t[i]);this._all=[]}return this},A.prototype.removeListener=A.prototype.off,A.prototype.removeAllListeners=function(t){if(t===e)return!this._events||c.call(this),this;if(this.wildcard){var i,r=w.call(this,null,t,this.listenerTree,0);if(!r)return this;for(i=0;i<r.length;i++)r[i]._listeners=null;this.listenerTree&&E(this.listenerTree)}else this._events&&(this._events[t]=null);return this},A.prototype.listeners=function(t){var i,r,n,o,a,c=this._events;if(t===e){if(this.wildcard)throw Error("event name required for wildcard emitter");if(!c)return[];for(o=(i=s(c)).length,n=[];o-- >0;)"function"==typeof(r=c[i[o]])?n.push(r):n.push.apply(n,r);return n}if(this.wildcard){if(!(a=this.listenerTree))return[];var h=[],l="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,h,l,a,0),h}return c&&(r=c[t])?"function"==typeof r?[r]:r:[]},A.prototype.eventNames=function(e){var t=this._events;return this.wildcard?M.call(this,this.listenerTree,[],null,e):t?s(t):[]},A.prototype.listenerCount=function(e){return this.listeners(e).length},A.prototype.hasListeners=function(t){if(this.wildcard){var i=[],r="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,i,r,this.listenerTree,0),i.length>0}var n=this._events,o=this._all;return!!(o&&o.length||n&&(t===e?s(n).length:n[t]))},A.prototype.listenersAny=function(){return this._all?this._all:[]},A.prototype.waitFor=function(t,i){var r=this,n=typeof i;return"number"===n?i={timeout:i}:"function"===n&&(i={filter:i}),x((i=f(i,{timeout:0,filter:e,handleError:!1,Promise:Promise,overload:!1},{filter:g,Promise:m})).Promise,(function(e,n,o){function a(){var o=i.filter;if(!o||o.apply(r,arguments))if(r.off(t,a),i.handleError){var s=arguments[0];s?n(s):e(u.apply(null,arguments).slice(1))}else e(u.apply(null,arguments))}o((function(){r.off(t,a)})),r._on(t,a,!1)}),{timeout:i.timeout,overload:i.overload})};var L=A.prototype;Object.defineProperties(A,{defaultMaxListeners:{get:function(){return L._maxListeners},set:function(e){if("number"!=typeof e||e<0||Number.isNaN(e))throw TypeError("n must be a non-negative number");L._maxListeners=e},enumerable:!0},once:{value:function(e,t,i){return x((i=f(i,{Promise:Promise,timeout:0,overload:!1},{Promise:m})).Promise,(function(i,r,n){var o;if("function"==typeof e.addEventListener)return o=function(){i(u.apply(null,arguments))},n((function(){e.removeEventListener(t,o)})),void e.addEventListener(t,o,{once:!0});var a,s=function(){a&&e.removeListener("error",a),i(u.apply(null,arguments))};"error"!==t&&(a=function(i){e.removeListener(t,s),r(i)},e.once("error",a)),n((function(){a&&e.removeListener("error",a),e.removeListener(t,s)})),e.once(t,s)}),{timeout:i.timeout,overload:i.overload})},writable:!0,configurable:!0}}),Object.defineProperties(L,{_maxListeners:{value:10,writable:!0,configurable:!0},_observers:{value:null,writable:!0,configurable:!0}}),qs.exports=A}()),Xs.exports),Zs=Hs(Ys);class Js extends Zs{constructor(e){super(),e=e||{},this.message=e.message,this.feedbackTopic=e.feedbackTopic,this.tfClient=e.tfClient,this.menuFontSize=e.menuFontSize||"0.8em",this.name=this.message.name,this.header=this.message.header,this.controls=this.message.controls,this.menuEntries=this.message.menu_entries,this.dragging=!1,this.timeoutHandle=null,this.tfTransform=new r.Transform,this.pose=new r.Pose,this.setPoseFromClientBound=this.setPoseFromClient.bind(this),this.onMouseDownBound=this.onMouseDown.bind(this),this.onMouseUpBound=this.onMouseUp.bind(this),this.onButtonClickBound=this.onButtonClick.bind(this),this.onMenuSelectBound=this.onMenuSelect.bind(this),this.setPoseFromServer(this.message.pose),this.tfUpdateBound=this.tfUpdate.bind(this)}subscribeTf(){0===this.message.header.stamp.secs&&0===this.message.header.stamp.nsecs&&this.tfClient.subscribe(this.message.header.frame_id,this.tfUpdateBound)}unsubscribeTf(){this.tfClient.unsubscribe(this.message.header.frame_id,this.tfUpdateBound)}emitServerPoseUpdate(){var e=new r.Pose(this.pose);e.applyTransform(this.tfTransform),this.emit("pose",e)}setPoseFromServer(e){this.pose=new r.Pose(e),this.emitServerPoseUpdate()}tfUpdate(e){this.tfTransform=new r.Transform(e),this.emitServerPoseUpdate()}setPoseFromClient(e){this.pose=new r.Pose(e);var t=this.tfTransform.clone();t.rotation.invert(),t.translation.multiplyQuaternion(t.rotation),t.translation.x*=-1,t.translation.y*=-1,t.translation.z*=-1,this.pose.applyTransform(t),this.sendFeedback(1,void 0,0,e.controlName),this.dragging&&(this.timeoutHandle&&clearTimeout(this.timeoutHandle),this.timeoutHandle=setTimeout(this.setPoseFromClient.bind(this,e),250))}onButtonClick(e){this.sendFeedback(3,e.clickPosition,0,e.controlName)}onMouseDown(e){this.sendFeedback(4,e.clickPosition,0,e.controlName),this.dragging=!0}onMouseUp(e){this.sendFeedback(5,e.clickPosition,0,e.controlName),this.dragging=!1,this.timeoutHandle&&clearTimeout(this.timeoutHandle)}onMenuSelect(e){this.sendFeedback(2,void 0,e.id,e.controlName)}sendFeedback(e,t,i,r){var n=void 0!==t;t=t||{x:0,y:0,z:0};var o={header:this.header,client_id:this.clientID,marker_name:this.name,control_name:r,event_type:e,pose:this.pose,mouse_point:t,mouse_point_valid:n,menu_entry_id:i};this.feedbackTopic.publish(o)}}class Ks extends Ss.Object3D{constructor(e){super(),e=e||{},this.tfClient=e.tfClient,this.frameID=e.frameID;var t=e.object;this.pose=e.pose||new r.Pose,this.visible=!1,this.add(t),this.updatePose(this.pose),this.tfUpdate=function(e){var t=new r.Transform(e),i=new r.Pose(this.pose);i.applyTransform(t),this.updatePose(i),this.visible=!0},this.tfUpdateBound=this.tfUpdate.bind(this),this.tfClient.subscribe(this.frameID,this.tfUpdateBound)}updatePose(e){this.position.set(e.position.x,e.position.y,e.position.z),this.quaternion.set(e.orientation.x,e.orientation.y,e.orientation.z,e.orientation.w),this.updateMatrixWorld(!0)}unsubscribeTf(){this.tfClient.unsubscribe(this.frameID,this.tfUpdateBound)}}class Qs extends Ss.ArrowHelper{constructor(e){var t=(e=e||{}).origin||new Ss.Vector3(0,0,0),i=e.direction||new Ss.Vector3(1,0,0),r=e.length||1;e.headLength,e.shaftDiameter,e.headDiameter,e.material||new Ss.MeshBasicMaterial,super(i,t,r,16711680)}dispose(){void 0!==this.line&&(this.line.material.dispose(),this.line.geometry.dispose()),void 0!==this.cone&&(this.cone.material.dispose(),this.cone.geometry.dispose())}}class $s extends Ss.Object3D{constructor(e){super();var t=this,i=(e=e||{}).shaftRadius||.008,r=e.headRadius||.023,n=e.headLength||.1,o=e.scale||1,a=e.lineType||"full",s=e.lineDashLength||.1;function c(e){var r=new Ss.Color;r.setRGB(e.x,e.y,e.z);var n=new Ss.MeshBasicMaterial({color:r.getHex()}),o=new Ss.Vector3;o.crossVectors(e,new Ss.Vector3(0,-1,0));var c=new Ss.Quaternion;c.setFromAxisAngle(o,.5*Math.PI);var h,l=new Ss.Mesh(t.headGeom,n);if(l.position.copy(e),l.position.multiplyScalar(.95),l.quaternion.copy(c),l.updateMatrix(),t.add(l),"dashed"===a)for(var u=s,p=0;u/2+3*u*p+u/2<=1;++p){var d=new Ss.CylinderGeometry(i,i,u);(h=new Ss.Mesh(d,n)).position.copy(e),h.position.multiplyScalar(u/2+3*u*p),h.quaternion.copy(c),h.updateMatrix(),t.add(h)}else"full"===a?((h=new Ss.Mesh(t.lineGeom,n)).position.copy(e),h.position.multiplyScalar(.45),h.quaternion.copy(c),h.updateMatrix(),t.add(h)):console.warn("[Axes]: Unsupported line type. Not drawing any axes.")}this.scale.set(o,o,o),this.lineGeom=new Ss.CylinderGeometry(i,i,1-n),this.headGeom=new Ss.CylinderGeometry(0,r,n),c(new Ss.Vector3(1,0,0)),c(new Ss.Vector3(0,1,0)),c(new Ss.Vector3(0,0,1))}}class ec extends Ss.Object3D{constructor(e){var t=(e=e||{}).num_cells||10,i=e.color||"#cccccc",r=e.lineWidth||1,n=e.cellSize||1;super();for(var o=new Ss.LineBasicMaterial({color:i,linewidth:r}),a=0;a<=t;++a){var s=n*t/2,c=s-a*n,h=new Ss.Geometry;h.vertices.push(new Ss.Vector3(-s,c,0),new Ss.Vector3(s,c,0));var l=new Ss.Geometry;l.vertices.push(new Ss.Vector3(c,-s,0),new Ss.Vector3(c,s,0)),this.add(new Ss.Line(h,o)),this.add(new Ss.Line(l,o))}}}class tc extends Ss.Mesh{constructor(e){var t=(e=e||{}).message,i=e.opacity||1,r=e.color||{r:255,g:255,b:255,a:255},n=t.info,o=n.origin,a=n.width,s=n.height,c=new Ss.PlaneBufferGeometry(a,s),h=new Uint8Array(a*s*4),l=new Ss.DataTexture(h,a,s,Ss.RGBAFormat);l.flipY=!0,l.minFilter=Ss.NearestFilter,l.magFilter=Ss.NearestFilter,l.needsUpdate=!0;var u=new Ss.MeshBasicMaterial({map:l,transparent:i<1,opacity:i});u.side=Ss.DoubleSide,super(c,u),Object.assign(this,e),this.quaternion.copy(new Ss.Quaternion(o.orientation.x,o.orientation.y,o.orientation.z,o.orientation.w)),this.position.x=a*n.resolution/2+o.position.x,this.position.y=s*n.resolution/2+o.position.y,this.position.z=o.position.z,this.scale.x=n.resolution,this.scale.y=n.resolution;var p=t.data;this.color=r,this.material=u,this.texture=l;for(var d=0;d<s;d++)for(var f=0;f<a;f++){var m=s-d-1,v=f+m*a,g=this.getValue(v,m,f,p),y=(r=this.getColor(v,m,f,g),4*(f+d*a));h.set(r,y)}l.needsUpdate=!0}dispose(){this.material.dispose(),this.texture.dispose()}getValue(e,t,i,r){return r[e]}getColor(e,t,i,r){return[r*this.color.r/255,r*this.color.g/255,r*this.color.b/255,255]}}class ic{constructor(){this._children=[null,null,null,null,null,null,null,null],this.value=null}createChildNodeAt(e,t){this._children[t%8]=e}hasChildAt(e){return null!==this._children[e%8]}getChildAt(e){return this._children[e%8]}isLeafNode(){for(let e=0;e<8;++e)if(null!==this._children[e])return!1;return!0}hasChildren(){for(let e=0;e<8;++e)if(null!==this._children[e])return!0;return!1}}var rc="occupied",nc="free",oc="solid",ac="color";function sc(e,t){return this.buffer=e.buffer,this.length=e.length,this.isLittleEndian=void 0===t||!!t,this._dataView=new DataView(this.buffer),this._cursor=0,[{kind:"Int8",width:1},{kind:"Uint8",width:1},{kind:"Int16",width:2},{kind:"Uint16",width:2},{kind:"Int32",width:4},{kind:"Uint32",width:4},{kind:"BigInt64",width:8},{kind:"BigUint64",width:8},{kind:"Float32",width:4},{kind:"Float64",width:8}].forEach((e=>{const t="read"+e.kind,i="get"+e.kind;this[t]=()=>{if(this._cursor+e.width>this.length)throw new Error("Cannot read data stream. Overflow. Len="+this.length+" crsr="+this._cursor);const t=this._dataView[i](this._cursor,this.isLittleEndian);return this._cursor+=e.width,t}})),Object.defineProperty(this,"isEnd",{get:()=>this.cursor>=this.data.length}),this}class cc{constructor(e){this.resolution=void 0!==e.resolution?e.resolution:1,this.color=new Ss.Color(void 0!==e.color?e.color:"green"),this.opacity=void 0!==e.opacity?e.opacity:1,this.voxelRenderMode=void 0!==e.voxelRenderMode?e.voxelRenderMode:rc,this._rootNode=null,this._treeDepth=16,this._treeMaxKeyVal=32768,this._BINARY_UNALLOCATED=0,this._BINARY_LEAF_FREE=1,this._BINARY_LEAF_OCCUPIED=2,this._BINARY_HAS_CHILDREN=3,this._BINARY_CHILD_BUILD_TABLE={},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_FREE]=function(e){e.value=this._defaultFreeValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_OCCUPIED]=function(e){e.value=this._defaultOccupiedValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_HAS_CHILDREN]=function(e){e.value=null},this._FACES=[{normal:[-1,0,0],vertices:[[0,1,0],[0,0,0],[0,1,1],[0,0,1]],childIndex:[1,3,5,7]},{normal:[1,0,0],vertices:[[1,1,1],[1,0,1],[1,1,0],[1,0,0]],childIndex:[0,2,4,6]},{normal:[0,-1,0],vertices:[[1,0,1],[0,0,1],[1,0,0],[0,0,0]],childIndex:[2,3,6,7]},{normal:[0,1,0],vertices:[[0,1,1],[1,1,1],[0,1,0],[1,1,0]],childIndex:[0,1,4,5]},{normal:[0,0,-1],vertices:[[1,0,0],[0,0,0],[1,1,0],[0,1,0]],childIndex:[4,5,6,7]},{normal:[0,0,1],vertices:[[0,0,1],[1,0,1],[0,1,1],[1,1,1]],childIndex:[0,1,2,3]}],this.nodeSizeTable=new Array(this._treeDepth);let t=this.resolution;for(let e=this._treeDepth-1;e>=0;--e)this.nodeSizeTable[e]=t,t*=2;this._defaultOccupiedValue=!0,this._defaultFreeValue=!1,this.object=null}searchAtDepth(e,t){t=void 0!==t&&t>0?t:this._treeDepth;const i=this._adjustKeyAtDepth(e,t),r=this._treeDepth-t;let n=this._rootNode;for(let e=this._treeDepth-1;e>=r;--e){const t=this._computeChildIdx(i,e);if(!n.hasChildAt(t))return n.hasChildren()?null:n;n=n.getChildAt(t)}return n}_computeCoordFromKey(e){return e.map((e=>this.resolution*(e-this._treeMaxKeyVal)))}_computeChildIdx(e,t){let i=0;return e[0]&1<<t&&(i+=1),e[1]&1<<t&&(i+=2),e[2]&1<<t&&(i+=4),i}_computeKeyFromChildIdx(e,t,i){const r=this._treeDepth-i-1;return[t[0]+(!!(1&e)<<r),t[1]+(!!(2&e)<<r),t[2]+(!!(4&e)<<r)]}_adjustKeyAtDepth(e,t){let i=this._treeDepth-t;return 0===i?e:e.map((e=>(e-this._treeMaxKeyVal>>i<<i)+(1<<i-1)+this._treeMaxKeyVal))}_newNode(){return new ic}readBinary(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new sc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();const r=t.readUint16();let n=8;for(;0!==n;){--n;const t=(r&3<<2*n)>>2*n;if(t!==this._BINARY_UNALLOCATED){let r=this._newNode();this._BINARY_CHILD_BUILD_TABLE[t].bind(this)(r),e.createChildNodeAt(r,n),t===this._BINARY_HAS_CHILDREN&&i.push(r)}}}}read(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new sc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();this._readNodeData(t,e);const r=t.readUint8();let n=8;for(;0!==n;){--n;if(r&1<<n){let t=this._newNode();t.value=null,e.createChildNodeAt(t,n),i.push(t)}}}}_readNodeData(e,t){console.error("Not implemented")}buildGeometry(){console.assert(null!==this._rootNode,"No tree data");const{vertices:e,normals:t,colors:i,indices:r}=this._buildFaces(),n=new Ss.BufferGeometry,o=new Ss.MeshBasicMaterial({color:"white",flatShading:!0,vertexColors:Ss.VertexColors,transparent:this.opacity<1,opacity:this.opacity});n.addAttribute("position",new Ss.BufferAttribute(new Float32Array(e),3)),n.addAttribute("normal",new Ss.BufferAttribute(new Float32Array(t),3)),n.addAttribute("color",new Ss.BufferAttribute(new Float32Array(i),3)),n.setIndex(r);const a=new Ss.Mesh(n,o);this.object=new Ss.Object3D,this.object.add(a)}_traverseLeaves(e){let t=new Array;for(t.push({node:this._rootNode,depth:0,key:[0,0,0]});t.length>0;){let i=t.pop();if(i.node.isLeafNode())e(i.node,i.key,i.depth-1);else for(let e=0;e<8;++e)if(i.node.hasChildAt(e)){const r=this._computeKeyFromChildIdx(e,i.key,i.depth);t.push({node:i.node.getChildAt(e),depth:i.depth+1,key:r})}}}_obtainColor(e){return this.color}_checkOccupied(e){return!1!==e.value}_buildFaces(){let e={vertices:[],indices:[],normals:[],colors:[],_insertFace:function(e,t,i,r){const n=this.vertices.length/3;e.vertices.forEach((function(e){this.vertices.push(t[0]+e[0]*i,t[1]+e[1]*i,t[2]+e[2]*i)}));const o=[r.r,r.g,r.b];this.colors.push(...o,...o,...o,...o),this.normals.push(...e.normal,...e.normal,...e.normal,...e.normal),this.indices.push(n,n+1,n+2,n+2,n+1,n+3)},_checkNeighborsTouchingFace:function(e,t,i){let r=new Array;for(r.push(t);0!==r.length;){const t=r.pop();t.hasChildren()&&e.childIndex.forEach((function(e){if(!t.hasChildAt(e))return!0;{const n=t.getChildAt(e),o=this._checkOccupied(t);(o&&i===ROS3D.OcTreeVoxelRenderMode.OCCUPIED||!o&&i===nc)&&r.push(n)}}))}return!1}};return this._traverseLeaves(((t,i,r)=>{const n=this._computeCoordFromKey(i),o=this.nodeSizeTable[r],a=this._treeDepth-r,s=this._checkOccupied(t);(s||this.voxelRenderMode!==rc)&&(s&&this.voxelRenderMode===nc||this._FACES.forEach((function(s){const c=[i[0]+s.normal[0]*a*a,i[1]+s.normal[1]*a*a,i[2]+s.normal[2]*a*a],h=this.searchAtDepth(c);null===h?e._insertFace(s,n,o,this._obtainColor(t)):r<this._treeDepth&&e._checkNeighborsTouchingFace(s,h,this.voxelRenderMode)})))})),{vertices:e.vertices,normals:e.normals,colors:e.colors,indices:e.indices}}}class hc extends cc{constructor(e){super(e),this._defaultOccupiedValue=1,this._defaultFreeValue=-1,this.occupancyThreshold=void 0!==e.occupancyThreshold?e.occupancyThreshold:1e-7,this.useFlatColoring=void 0!==e.colorMode&&e.colorMode===oc,this.palette=void 0!==e.palette?e.palette.map((e=>new Ss.Color(e))):[{r:0,g:0,b:128},{r:0,g:255,b:0},{r:255,g:255,b:0},{r:255,g:128,b:0},{r:255,g:0,b:0}],this.paletteScale=void 0!==e.paletteScale?e.paletteScale:1}_readNodeData(e,t){t.value=e.readFloat32()}_obtainColor(e){if(this.useFlatColoring)return this.color;const t=1/(1+Math.exp(-e.value*this.paletteScale))*this.palette.length,i=Math.trunc(t),r=t-i;return i<0?this.palette[0]:i>=this.palette.length-1?this.palette[this.palette.length-1]:{r:r*this.palette[i].r+(1-r)*this.palette[i+1].r,g:r*this.palette[i].g+(1-r)*this.palette[i+1].g,b:r*this.palette[i].b+(1-r)*this.palette[i+1].b}}_checkOccupied(e){return e.value>=this.occupancyThreshold}}class lc extends hc{constructor(e){super(e),this.useOwnColor=void 0!==e.palette&&e.colorMode===ac}_readNodeData(e,t){t.value=e.readFloat32(),t.color={r:e.readUint8(),g:e.readUint8(),b:e.readUint8()}}_obtainColor(e){return this.useOwnColor?e.color:hc.prototype._obtainColor.call(this,e)}}class uc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.keep=e.keep||1,this.sns=[],this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Odometry"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){this.sns.length>=this.keep&&(this.sns[0].unsubscribeTf(),this.rootObject.remove(this.sns[0]),this.sns.shift()),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sns.push(new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:i})),this.rootObject.add(this.sns[this.sns.length-1])}}class pc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Path"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t=new Ss.Geometry,i=0;i<e.poses.length;i++){var r=new Ss.Vector3(e.poses[i].pose.position.x,e.poses[i].pose.position.y,e.poses[i].pose.position.z);t.vertices.push(r)}t.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(t,n);this.sn=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class dc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/point",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.radius=e.radius||.2,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PointStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));var t=new Ss.SphereGeometry(this.radius),i=new Ss.MeshBasicMaterial({color:this.color}),r=new Ss.Mesh(t,i);r.position.set(e.point.x,e.point.y,e.point.z),this.sn=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.sn)}}class fc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PolygonStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Geometry,r=0;r<e.polygon.points.length;r++)t=new Ss.Vector3(e.polygon.points[r].x,e.polygon.points[r].y,e.polygon.points[r].z),i.vertices.push(t);t=new Ss.Vector3(e.polygon.points[0].x,e.polygon.points[0].y,e.polygon.points[0].z),i.vertices.push(t),i.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(i,n);this.sn=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class mc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/pose",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.position.x,e.pose.position.y,e.pose.position.z);var t=new Ss.Quaternion(e.pose.orientation.x,e.pose.orientation.y,e.pose.orientation.z,e.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class vc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseArray"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Object3D,r=0;r<e.poses.length;r++){var n=new Ss.Geometry,o=new Ss.Vector3(e.poses[r].position.x,e.poses[r].position.y,e.poses[r].position.z);n.vertices.push(o);var a=new Ss.Quaternion(e.poses[r].orientation.x,e.poses[r].orientation.y,e.poses[r].orientation.z,e.poses[r].orientation.w),s=new Ss.Vector3(this.length,0,0),c=new Ss.Vector3(.8*this.length,.2*this.length,0),h=new Ss.Vector3(.8*this.length,.2*-this.length,0);s.applyQuaternion(a),c.applyQuaternion(a),h.applyQuaternion(a),n.vertices.push(s.add(o)),n.vertices.push(c.add(o)),n.vertices.push(h.add(o)),n.vertices.push(s),n.computeLineDistances();var l=new Ss.LineBasicMaterial({color:this.color});t=new Ss.Line(n,l),i.add(t)}this.sn=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class gc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/PoseWithCovariance",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseWithCovarianceStamped"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class yc extends Ss.Object3D{constructor(e){super(),e=e||{},this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.max_pts=e.max_pts||1e4,this.pointRatio=e.pointRatio||1,this.messageRatio=e.messageRatio||1,this.messageCount=0,this.material=e.material||{},this.colorsrc=e.colorsrc,this.colormap=e.colormap,("color"in e||"size"in e||"texture"in e)&&console.warn('toplevel "color", "size" and "texture" options are deprecated.They should beprovided within a "material" option, e.g. :  { tfClient, material : { color: mycolor, size: mysize, map: mytexture }, ... }'),this.sn=null}setup(e,t,i){if(null===this.sn){i=i||[],this.fields={};for(var r=0;r<i.length;r++)this.fields[i[r].name]=i[r];if(this.geom=new Ss.BufferGeometry,this.positions=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("position",this.positions.setDynamic(!0)),!this.colorsrc&&this.fields.rgb&&(this.colorsrc="rgb"),this.colorsrc){var n=this.fields[this.colorsrc];if(n){this.colors=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("color",this.colors.setDynamic(!0));var o=n.offset;this.getColor=[function(e,t,i){return e.getInt8(t+o,i)},function(e,t,i){return e.getUint8(t+o,i)},function(e,t,i){return e.getInt16(t+o,i)},function(e,t,i){return e.getUint16(t+o,i)},function(e,t,i){return e.getInt32(t+o,i)},function(e,t,i){return e.getUint32(t+o,i)},function(e,t,i){return e.getFloat32(t+o,i)},function(e,t,i){return e.getFloat64(t+o,i)}][n.datatype-1],this.colormap=this.colormap||function(e){return new Ss.Color(e)}}else console.warn('unavailable field "'+this.colorsrc+'" for coloring.')}this.material.isMaterial||(this.colors&&void 0===this.material.vertexColors&&(this.material.vertexColors=Ss.VertexColors),this.material=new Ss.PointsMaterial(this.material)),this.object=new Ss.Points(this.geom,this.material),this.sn=new Ks({frameID:e,tfClient:this.tfClient,object:this.object}),this.rootObject.add(this.sn)}return this.messageCount++%this.messageRatio==0}update(e){this.geom.setDrawRange(0,e),this.positions.needsUpdate=!0,this.positions.updateRange.count=e*this.positions.itemSize,this.colors&&(this.colors.needsUpdate=!0,this.colors.updateRange.count=e*this.colors.itemSize)}}class xc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/scan",this.compression=e.compression||"cbor",this.points=new yc(e),this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,compression:this.compression,queue_length:1,messageType:"sensor_msgs/LaserScan"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){if(this.points.setup(e.header.frame_id)){for(var t=e.ranges.length,i=0,r=0;r<t;r+=this.points.pointRatio){var n=e.ranges[r];if(n>=e.range_min&&n<=e.range_max){var o=e.angle_min+r*e.angle_increment;this.points.positions.array[i++]=n*Math.cos(o),this.points.positions.array[i++]=n*Math.sin(o),this.points.positions.array[i++]=0}}this.points.update(i/3)}}}class bc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/gps/fix",this.rootObject=e.rootObject||new Ss.Object3D,this.object3d=e.object3d||new Ss.Object3D;var t=e.material||{};this.altitudeNaN=e.altitudeNaN||0,this.keep=e.keep||100,this.convert=e.convert||function(e,t,i){return new Ss.Vector3(e,t,i)},this.count=0,this.next1=0,this.next2=this.keep,this.geom=new Ss.BufferGeometry,this.vertices=new Ss.BufferAttribute(new Float32Array(6*this.keep),3),this.geom.addAttribute("position",this.vertices),this.material=t.isMaterial?t:new Ss.LineBasicMaterial(t),this.line=new Ss.Line(this.geom,this.material),this.rootObject.add(this.object3d),this.rootObject.add(this.line),this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"sensor_msgs/NavSatFix"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){var t=isNaN(e.altitude)?this.altitudeNaN:e.altitude,i=this.convert(e.longitude,e.latitude,t);this.object3d.position.copy(i),this.object3d.updateMatrixWorld(!0),this.vertices.array[3*this.next1]=i.x,this.vertices.array[3*this.next1+1]=i.y,this.vertices.array[3*this.next1+2]=i.z,this.vertices.array[3*this.next2]=i.x,this.vertices.array[3*this.next2+1]=i.y,this.vertices.array[3*this.next2+2]=i.z,this.vertices.needsUpdate=!0,this.next1=(this.next1+1)%this.keep,this.next2=this.next1+this.keep,this.count=Math.min(this.count+1,this.keep),this.geom.setDrawRange(this.next2-this.count,this.count)}}function wc(e,t,i,r){var n,o=0,a=0,s=0,c=e.length,h=t.length,l=((r=r||1)-1)*(i=i||h)*8;for(n=0;n<c&&s<h;n++)o=(o<<6)+wc.e[e.charAt(n)],(a+=6)>=8&&(a-=8,t[s++]=o>>>a&255,s%i==0&&(n+=Math.ceil((l-a)/6),(a%=8)>0&&(o=wc.e[e.charAt(n)])));return Math.floor(s/i)}wc.S="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",wc.e={};for(var _c=0;_c<64;_c++)wc.e[wc.S.charAt(_c)]=_c;class Mc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/points",this.throttle_rate=e.throttle_rate||null,this.compression=e.compression||"cbor",this.max_pts=e.max_pts||1e4,this.points=new yc(e),this.rosTopic=void 0,this.buffer=null,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/PointCloud2",throttle_rate:this.throttle_rate,queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){if(this.points.setup(e.header.frame_id,e.point_step,e.fields)){var t,i=this.points.pointRatio,r=this.max_pts*e.point_step;e.data.buffer?(this.buffer=e.data.slice(0,Math.min(e.data.byteLength,r)),t=Math.min(e.height*e.width/i,this.points.positions.array.length/3)):((!this.buffer||this.buffer.byteLength<r)&&(this.buffer=new Uint8Array(r)),t=wc(e.data,this.buffer,e.point_step,i),i=1);for(var n,o,a=new DataView(this.buffer.buffer),s=!e.is_bigendian,c=this.points.fields.x.offset,h=this.points.fields.y.offset,l=this.points.fields.z.offset,u=0;u<t;u++)n=u*i*e.point_step,this.points.positions.array[3*u]=a.getFloat32(n+c,s),this.points.positions.array[3*u+1]=a.getFloat32(n+h,s),this.points.positions.array[3*u+2]=a.getFloat32(n+l,s),this.points.colors&&(o=this.points.colormap(this.points.getColor(a,n,s)),this.points.colors.array[3*u]=o.r,this.points.colors.array[3*u+1]=o.g,this.points.colors.array[3*u+2]=o.b);this.points.update(t)}}}class Ec extends Ss.Object3D{constructor(e){super(),e=e||{},this.frame_id=e.frame_id,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.axes=new $s({shaftRadius:e.shaftRadius||.025,headRadius:e.headRaidus||.07,headLength:e.headLength||.2,scale:e.scale||1,lineType:e.lineType||"full",lineDashLength:e.lineDashLength||.1}),this.sn=new Ks({frameID:this.frame_id,tfClient:this.tfClient,object:this.axes}),this.rootObject.add(this.sn)}}class Tc extends Ss.Object3D{constructor(e){var t=(e=e||{}).urdfModel,i=e.path||"/",n=e.tfClient,o=e.tfPrefix||"",a=e.loader;super();var s=t.links;for(var c in s)for(var h=s[c],l=0;l<h.visuals.length;l++){var u=h.visuals[l];if(u&&u.geometry){var p=o+"/"+h.name,d=null;if(u.material&&u.material.color){var f=u.material&&u.material.color;d=As(f.r,f.g,f.b,f.a)}if(u.geometry.type===r.URDF_MESH){var m=u.geometry.filename,v=m.indexOf("package://");-1!==v&&(m=m.substr(v+"package://".length));var g=m.substr(-3).toLowerCase();if(Bs.loaders[g]){var y=new Fs({path:i,resource:m,loader:a,material:d});h.visuals[l].geometry.scale&&y.scale.copy(u.geometry.scale);var x=new Ks({frameID:p,pose:u.origin,tfClient:n,object:y});x.name=u.name,this.add(x)}else console.warn("Could not load geometry mesh: "+m)}else{var b=this.createShapeMesh(u,e),w=new Ks({frameID:p,pose:u.origin,tfClient:n,object:b});w.name=u.name,this.add(w)}}}}createShapeMesh(e,t){var i,n=null;switch(n||(n=As(0,0,0,1)),e.geometry.type){case r.URDF_BOX:var o=e.geometry.dimension,a=new Ss.BoxGeometry(o.x,o.y,o.z);i=new Ss.Mesh(a,n);break;case r.URDF_CYLINDER:var s=e.geometry.radius,c=e.geometry.length,h=new Ss.CylinderGeometry(s,s,c,16,1,!1);(i=new Ss.Mesh(h,n)).quaternion.setFromAxisAngle(new Ss.Vector3(1,0,0),.5*Math.PI);break;case r.URDF_SPHERE:var l=new Ss.SphereGeometry(e.geometry.radius,16);i=new Ss.Mesh(l,n)}return i}unsubscribeTf(){this.children.forEach((function(e){"function"==typeof e.unsubscribeTf&&e.unsubscribeTf()}))}}class Sc{constructor(e){e=e||{},this.mouseHandler=e.mouseHandler,this.hoverObjs={},this.mouseHandler.addEventListener("mouseover",this.onMouseOver.bind(this)),this.mouseHandler.addEventListener("mouseout",this.onMouseOut.bind(this))}onMouseOver(e){this.hoverObjs[e.currentTarget.uuid]=e.currentTarget}onMouseOut(e){var t=e.currentTarget.uuid;t in this.hoverObjs&&delete this.hoverObjs[t]}renderHighlights(e,t,i){this.makeEverythingInvisible(e),this.makeHighlightedVisible(e);var r=e.overrideMaterial;e.overrideMaterial=new Ss.MeshBasicMaterial({fog:!1,opacity:.5,transparent:!0,depthTest:!0,depthWrite:!1,polygonOffset:!0,polygonOffsetUnits:-1,side:Ss.DoubleSide}),t.render(e,i),e.overrideMaterial=r,this.restoreVisibility(e)}makeEverythingInvisible(e){e.traverse((function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.previousVisibility=e.visible,e.visible=!1)}))}makeHighlightedVisible(e){var t=function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.visible=!0)};for(var i in this.hoverObjs){var r=this.hoverObjs[i];r.visible=!0,r.traverse(t)}}restoreVisibility(e){e.traverse(function(e){e.hasOwnProperty("previousVisibility")&&(e.visible=e.previousVisibility)}.bind(this))}}class Ac extends Ss.EventDispatcher{constructor(e){super(),this.renderer=e.renderer,this.camera=e.camera,this.rootObject=e.rootObject,this.fallbackTarget=e.fallbackTarget,this.lastTarget=this.fallbackTarget,this.dragging=!1;this.listeners={},["contextmenu","click","dblclick","mouseout","mousedown","mouseup","mousemove","mousewheel","DOMMouseScroll","touchstart","touchend","touchcancel","touchleave","touchmove"].forEach((function(e){this.listeners[e]=this.processDomEvent.bind(this),this.renderer.domElement.addEventListener(e,this.listeners[e],!1)}),this)}processDomEvent(e){e.preventDefault();var t,i,r=e.target,n=r.getBoundingClientRect();if(-1!==e.type.indexOf("touch")){t=0,i=0;for(var o=0;o<e.touches.length;++o)t+=e.touches[o].clientX,i+=e.touches[o].clientY;t/=e.touches.length,i/=e.touches.length}else t=e.clientX,i=e.clientY;var a=t-n.left-r.clientLeft+r.scrollLeft,s=i-n.top-r.clientTop+r.scrollTop,c=a/r.clientWidth*2-1,h=-s/r.clientHeight*2+1,l=new Ss.Vector2(c,h),u=new Ss.Raycaster;u.linePrecision=.001,u.setFromCamera(l,this.camera);var p={mousePos:l,mouseRay:u.ray,domEvent:e,camera:this.camera,intersection:this.lastIntersection};if("mouseout"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"mouseout",p),void(this.lastTarget=null);if("touchleave"===e.type||"touchend"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"touchend",p),void(this.lastTarget=null);if(this.dragging)return this.notify(this.lastTarget,e.type,p),void(("mouseup"===e.type&&2===e.button||"click"===e.type||"touchend"===e.type)&&(this.dragging=!1));r=this.lastTarget;var d;if((d=u.intersectObject(this.rootObject,!0)).length>0?(r=d[0].object,p.intersection=this.lastIntersection=d[0]):r=this.fallbackTarget,r!==this.lastTarget&&e.type.match(/mouse/)){var f=this.notify(r,"mouseover",p);0===f?this.notify(this.lastTarget,"mouseout",p):1===f&&(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(r,"mouseover",p),this.notify(this.lastTarget,"mouseout",p))}r!==this.lastTarget&&e.type.match(/touch/)&&(this.notify(r,e.type,p)?(this.notify(this.lastTarget,"touchleave",p),this.notify(this.lastTarget,"touchend",p)):(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(this.lastTarget,"touchmove",p),this.notify(this.lastTarget,"touchend",p)));this.notify(r,e.type,p),"mousedown"!==e.type&&"touchstart"!==e.type&&"touchmove"!==e.type||(this.dragging=!0),this.lastTarget=r}notify(e,t,i){for(i.type=t,i.cancelBubble=!1,i.continueBubble=!1,i.stopPropagation=function(){i.cancelBubble=!0},i.continuePropagation=function(){i.continueBubble=!0},i.currentTarget=e;i.currentTarget;){if(i.currentTarget.dispatchEvent&&i.currentTarget.dispatchEvent instanceof Function){if(i.currentTarget.dispatchEvent(i),i.cancelBubble)return this.dispatchEvent(i),0;if(i.continueBubble)return 2}i.currentTarget=i.currentTarget.parent}return 1}}class Lc extends Ss.EventDispatcher{constructor(e){super();var t=this,i=(e=e||{}).scene;this.camera=e.camera,this.center=new Ss.Vector3,this.userZoom=!0,this.userZoomSpeed=e.userZoomSpeed||1,this.userRotate=!0,this.userRotateSpeed=e.userRotateSpeed||1,this.autoRotate=e.autoRotate,this.autoRotateSpeed=e.autoRotateSpeed||2,this.displayPanAndZoomFrame=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,this.lineTypePanAndZoomFrame=e.dashedPanAndZoomFrame||"full",this.camera.up=new Ss.Vector3(0,0,1);var r=1800,n=new Ss.Vector2,o=new Ss.Vector2,a=new Ss.Vector2,s=new Ss.Vector2,c=new Ss.Vector2,h=new Ss.Vector2,l=new Ss.Vector3,u=new Ss.Vector3,p=new Ss.Vector3,d=new Ss.Vector3,f=new Array(2),m=new Array(2);this.phiDelta=0,this.thetaDelta=0,this.scale=1,this.lastPosition=new Ss.Vector3;var v=-1,g=0,y=1,x=2,b=v;function w(e,t,i){var r=new Ss.Vector3;new Ss.Vector3;r.subVectors(t,e.origin);var n=e.direction.dot(i);if(Math.abs(n)<e.precision)return null;var o=i.dot(r)/n;return e.direction.clone().multiplyScalar(o)}function _(e){if(t.userZoom){var i=e.domEvent;(void 0!==i.wheelDelta?i.wheelDelta:-i.detail)>0?t.zoomIn():t.zoomOut(),this.showAxes()}}this.axes=new $s({shaftRadius:.025,headRadius:.07,headLength:.2,lineType:this.lineTypePanAndZoomFrame}),this.displayPanAndZoomFrame&&(i.add(this.axes),this.axes.traverse((function(e){e.visible=!1}))),this.addEventListener("mousedown",(function(e){var i=e.domEvent;switch(i.preventDefault(),i.button){case 0:b=g,n.set(i.clientX,i.clientY);break;case 1:b=x,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u);break;case 2:b=y,s.set(i.clientX,i.clientY)}this.showAxes()})),this.addEventListener("mouseup",(function(e){t.userRotate&&(b=v)})),this.addEventListener("mousemove",(function(e){var i=e.domEvent;if(b===g)o.set(i.clientX,i.clientY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else if(b===y)c.set(i.clientX,i.clientY),h.subVectors(c,s),h.y>0?t.zoomIn():t.zoomOut(),s.copy(c),this.showAxes();else if(b===x){var f=w(e.mouseRay,t.center,u);if(!f)return;var m=(new Ss.Vector3).subVectors(d.clone(),f.clone());t.center.addVectors(l.clone(),m.clone()),t.camera.position.addVectors(p.clone(),m.clone()),t.update(),t.camera.updateMatrixWorld(),this.showAxes()}})),this.addEventListener("touchstart",(function(e){var i=e.domEvent;switch(i.touches.length){case 1:b=g,n.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY);break;case 2:b=v,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u),f[0]=new Ss.Vector2(i.touches[0].pageX,i.touches[0].pageY),f[1]=new Ss.Vector2(i.touches[1].pageX,i.touches[1].pageY),m[0]=new Ss.Vector2(0,0),m[1]=new Ss.Vector2(0,0)}this.showAxes(),i.preventDefault()})),this.addEventListener("touchmove",(function(e){var i=e.domEvent;if(b===g)o.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else{if(m[0].set(f[0].x-i.touches[0].pageX,f[0].y-i.touches[0].pageY),m[1].set(f[1].x-i.touches[1].pageX,f[1].y-i.touches[1].pageY),m[0].lengthSq()>10&&m[1].lengthSq()>10&&(f[0].set(i.touches[0].pageX,i.touches[0].pageY),f[1].set(i.touches[1].pageX,i.touches[1].pageY),m[0].dot(m[1])>0&&b!==y?b=x:m[0].dot(m[1])<0&&b!==x&&(b=y),b===y)){var s=new Ss.Vector2;s.subVectors(f[0],f[1]),m[0].dot(s)<0&&m[1].dot(s)>0?t.zoomOut():m[0].dot(s)>0&&m[1].dot(s)<0&&t.zoomIn()}if(b===x){var c=w(e.mouseRay,t.center,u);if(!c)return;var h=(new Ss.Vector3).subVectors(d.clone(),c.clone());t.center.addVectors(l.clone(),h.clone()),t.camera.position.addVectors(p.clone(),h.clone()),t.update(),t.camera.updateMatrixWorld()}this.showAxes(),i.preventDefault()}})),this.addEventListener("touchend",(function(e){var t=e.domEvent;1===t.touches.length&&b!==g?(b=g,n.set(t.touches[0].pageX-window.scrollX,t.touches[0].pageY-window.scrollY)):b=v})),this.addEventListener("mousewheel",_),this.addEventListener("DOMMouseScroll",_)}showAxes(){var e=this;this.axes.traverse((function(e){e.visible=!0})),this.hideTimeout&&clearTimeout(this.hideTimeout),this.hideTimeout=setTimeout((function(){e.axes.traverse((function(e){e.visible=!1})),e.hideTimeout=!1}),1e3)}rotateLeft(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta-=e}rotateRight(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta+=e}rotateUp(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta-=e}rotateDown(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta+=e}zoomIn(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale/=e}zoomOut(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale*=e}update(){var e=this.camera.position,t=e.clone().sub(this.center),i=Math.atan2(t.y,t.x),r=Math.atan2(Math.sqrt(t.y*t.y+t.x*t.x),t.z);this.autoRotate&&this.rotateLeft(2*Math.PI/60/60*this.autoRotateSpeed),i+=this.thetaDelta,r+=this.phiDelta;var n=1e-6;r=Math.max(n,Math.min(Math.PI-n,r));var o=t.length();t.set(o*Math.sin(r)*Math.cos(i),o*Math.sin(r)*Math.sin(i),o*Math.cos(r)),t.multiplyScalar(this.scale),e.copy(this.center).add(t),this.camera.lookAt(this.center),o=t.length(),this.axes.position.copy(this.center),this.axes.scale.set(.05*o,.05*o,.05*o),this.axes.updateMatrixWorld(!0),this.thetaDelta=0,this.phiDelta=0,this.scale=1,this.lastPosition.distanceTo(this.camera.position)>0&&(this.dispatchEvent({type:"change"}),this.lastPosition.copy(this.camera.position))}}return e.Arrow=Ns,e.Arrow2=Qs,e.Axes=$s,e.ColorOcTree=lc,e.DepthCloud=Ps,e.Grid=ec,e.Highlighter=Sc,e.INTERACTIVE_MARKER_BUTTON=2,e.INTERACTIVE_MARKER_BUTTON_CLICK=3,e.INTERACTIVE_MARKER_FIXED=1,e.INTERACTIVE_MARKER_INHERIT=0,e.INTERACTIVE_MARKER_KEEP_ALIVE=0,e.INTERACTIVE_MARKER_MENU=1,e.INTERACTIVE_MARKER_MENU_SELECT=2,e.INTERACTIVE_MARKER_MOUSE_DOWN=4,e.INTERACTIVE_MARKER_MOUSE_UP=5,e.INTERACTIVE_MARKER_MOVE_3D=7,e.INTERACTIVE_MARKER_MOVE_AXIS=3,e.INTERACTIVE_MARKER_MOVE_PLANE=4,e.INTERACTIVE_MARKER_MOVE_ROTATE=6,e.INTERACTIVE_MARKER_MOVE_ROTATE_3D=9,e.INTERACTIVE_MARKER_NONE=0,e.INTERACTIVE_MARKER_POSE_UPDATE=1,e.INTERACTIVE_MARKER_ROTATE_3D=8,e.INTERACTIVE_MARKER_ROTATE_AXIS=5,e.INTERACTIVE_MARKER_VIEW_FACING=2,e.InteractiveMarker=js,e.InteractiveMarkerClient=class{constructor(e){e=e||{},this.ros=e.ros,this.tfClient=e.tfClient,this.topicName=e.topic,this.path=e.path||"/",this.camera=e.camera,this.rootObject=e.rootObject||new Ss.Object3D,this.loader=e.loader,this.menuFontSize=e.menuFontSize||"0.8em",this.interactiveMarkers={},this.updateTopic=null,this.feedbackTopic=null,this.processUpdateBound=this.processUpdate.bind(this),this.topicName&&this.subscribe(this.topicName)}subscribe(e){this.unsubscribe(),this.updateTopic=new r.Topic({ros:this.ros,name:e+"/tunneled/update",messageType:"visualization_msgs/InteractiveMarkerUpdate",compression:"png"}),this.updateTopic.subscribe(this.processUpdateBound),this.feedbackTopic=new r.Topic({ros:this.ros,name:e+"/feedback",messageType:"visualization_msgs/InteractiveMarkerFeedback",compression:"png"}),this.feedbackTopic.advertise(),this.initService=new r.Service({ros:this.ros,name:e+"/tunneled/get_init",serviceType:"demo_interactive_markers/GetInit"});var t=new r.ServiceRequest({});this.initService.callService(t,this.processInit.bind(this))}unsubscribe(){for(var e in this.updateTopic&&this.updateTopic.unsubscribe(this.processUpdateBound),this.feedbackTopic&&this.feedbackTopic.unadvertise(),this.interactiveMarkers)this.eraseIntMarker(e);this.interactiveMarkers={}}processInit(e){var t=e.msg;for(var i in t.erases=[],this.interactiveMarkers)t.erases.push(i);t.poses=[],this.processUpdate(t)}processUpdate(e){e.erases.forEach((function(e){this.eraseIntMarker(e)})),e.poses.forEach((function(e){var t=this.interactiveMarkers[e.name];t&&t.setPoseFromServer(e.pose)})),e.markers.forEach((function(e){var t=this.interactiveMarkers[e.name];t&&this.eraseIntMarker(t.name);var i=new Js({message:e,feedbackTopic:this.feedbackTopic,tfClient:this.tfClient,menuFontSize:this.menuFontSize});this.interactiveMarkers[e.name]=i;var r=new js({handle:i,camera:this.camera,path:this.path,loader:this.loader});r.name=e.name,this.rootObject.add(r),i.on("pose",(function(e){r.onServerSetPose({pose:e})})),r.addEventListener("user-pose-change",i.setPoseFromClientBound),r.addEventListener("user-mousedown",i.onMouseDownBound),r.addEventListener("user-mouseup",i.onMouseUpBound),r.addEventListener("user-button-click",i.onButtonClickBound),r.addEventListener("menu-select",i.onMenuSelectBound),i.subscribeTf()}))}eraseIntMarker(e){if(this.interactiveMarkers[e]){var t=this.rootObject.getObjectByName(e);this.rootObject.remove(t);var i=this.interactiveMarkers[e];i.unsubscribeTf(),t.removeEventListener("user-pose-change",i.setPoseFromClientBound),t.removeEventListener("user-mousedown",i.onMouseDownBound),t.removeEventListener("user-mouseup",i.onMouseUpBound),t.removeEventListener("user-button-click",i.onButtonClickBound),t.removeEventListener("menu-select",i.onMenuSelectBound),delete this.interactiveMarkers[e],t.dispose()}}},e.InteractiveMarkerControl=Gs,e.InteractiveMarkerHandle=Js,e.InteractiveMarkerMenu=Vs,e.LaserScan=xc,e.MARKER_ARROW=0,e.MARKER_CUBE=1,e.MARKER_CUBE_LIST=6,e.MARKER_CYLINDER=3,e.MARKER_LINE_LIST=5,e.MARKER_LINE_STRIP=4,e.MARKER_MESH_RESOURCE=10,e.MARKER_POINTS=8,e.MARKER_SPHERE=2,e.MARKER_SPHERE_LIST=7,e.MARKER_TEXT_VIEW_FACING=9,e.MARKER_TRIANGLE_LIST=11,e.Marker=ks,e.MarkerArrayClient=class extends Zs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.markers={},this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/MarkerArray",compression:"png"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){e.markers.forEach(function(e){var t=e.ns+e.id;if(0===e.action){var i=!1;if(t in this.markers&&((i=this.markers[t].children[0].update(e))||this.removeMarker(t)),!i){var r=new ks({message:e,path:this.path});this.markers[t]=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}}else if(1===e.action)console.warn('Received marker message with deprecated action identifier "1"');else if(2===e.action)this.removeMarker(t);else if(3===e.action){for(var n in this.markers)this.removeMarker(n);this.markers={}}else console.warn('Received marker message with unknown action identifier "'+e.action+'"')}.bind(this)),this.emit("change")}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MarkerClient=class extends Zs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.lifetime=e.lifetime||0,this.markers={},this.rosTopic=void 0,this.updatedTime={},this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}checkTime(e){if((new Date).getTime()-this.updatedTime[e]>this.lifetime)this.removeMarker(e),this.emit("change");else{var t=this;setTimeout((function(){t.checkTime(e)}),100)}}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/Marker",compression:"png"}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){var t=e.ns+e.id,i=this.markers[t];if(this.updatedTime[t]=(new Date).getTime(),i?this.removeMarker(t):this.lifetime&&this.checkTime(e.ns+e.id),0===e.action){var r=new ks({message:e,path:this.path});this.markers[t]=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}this.emit("change")}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MeshLoader=Bs,e.MeshResource=Fs,e.MouseHandler=Ac,e.NavSatFix=bc,e.OcTree=hc,e.OcTreeClient=class extends Zs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/octomap",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.options={},void 0!==e.color&&(this.options.color=e.color),void 0!==e.opacity&&(this.options.opacity=e.opacity),void 0!==e.colorMode&&(this.options.colorMode=e.colorMode),void 0!==e.palette&&(this.options.palette=e.palette),void 0!==e.paletteScale&&(this.options.paletteScale=e.palette),void 0!==e.voxelRenderMode&&(this.options.voxelRenderMode=e.voxelRenderMode),this.currentMap=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"octomap_msgs/Octomap",queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){this.currentMap&&this.currentMap.tfClient&&this.currentMap.unsubscribeTf(),this._processMessagePrivate(e),this.continuous||this.rosTopic.unsubscribe(this.processMessageBound)}_loadOcTree(e){return new Promise(function(t,i){const r=Object.assign({resolution:e.resolution},this.options);let n=null;if(e.binary)n=new cc(r),n.readBinary(e.data);else{const t={OcTree:hc,ColorOcTree:lc};e.id in t&&(console.log(e.id,t),n=new t[e.id](r),n.read(e.data))}n.buildGeometry(),t(n)}.bind(this))}_processMessagePrivate(e){this._loadOcTree(e).then(function(t){const i=this.sceneNode;this.tfClient?(this.currentMap=t,this.sceneNode=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:t.object,pose:this.offsetPose})):(this.sceneNode=t.object,this.currentMap=t),this.rootObject.remove(i),this.rootObject.add(this.sceneNode),this.emit("change")}.bind(this))}},e.OccupancyGrid=tc,e.OccupancyGridClient=class extends Zs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/map",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.color=e.color||{r:255,g:255,b:255},this.opacity=e.opacity||1,this.currentGrid=null,this.rosTopic=void 0,this.processMessageBound=this.processMessage.bind(this),this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessageBound)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/OccupancyGrid",queue_length:1,compression:this.compression}),this.sceneNode=null,this.rosTopic.subscribe(this.processMessageBound)}processMessage(e){this.currentGrid&&(this.tfClient?(this.sceneNode.unsubscribeTf(),this.sceneNode.remove(this.currentGrid)):this.rootObject.remove(this.currentGrid),this.currentGrid.dispose());var t=new tc({message:e,color:this.color,opacity:this.opacity});this.tfClient?(this.currentGrid=t,null===this.sceneNode?(this.sceneNode=new Ks({frameID:e.header.frame_id,tfClient:this.tfClient,object:t,pose:this.offsetPose}),this.rootObject.add(this.sceneNode)):this.sceneNode.add(this.currentGrid)):(this.sceneNode=this.currentGrid=t,this.rootObject.add(this.currentGrid)),this.emit("change"),this.continuous||this.rosTopic.unsubscribe(this.processMessageBound)}},e.Odometry=uc,e.OrbitControls=Lc,e.Path=pc,e.Point=dc,e.PointCloud2=Mc,e.Points=yc,e.Polygon=fc,e.Pose=mc,e.PoseArray=vc,e.PoseWithCovariance=gc,e.SceneNode=Ks,e.TFAxes=Ec,e.TriangleList=zs,e.Urdf=Tc,e.UrdfClient=class{constructor(e){var t=(e=e||{}).ros;this.param=e.param||"robot_description",this.path=e.path||"/",this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.tfPrefix=e.tfPrefix||"",this.loader=e.loader,new r.Param({ros:t,name:this.param}).get(function(e){var t=new r.UrdfModel({string:e});this.urdf=new Tc({urdfModel:t,path:this.path,tfClient:this.tfClient,tfPrefix:this.tfPrefix,loader:this.loader}),this.rootObject.add(this.urdf)}.bind(this))}},e.Viewer=class{constructor(e){var t=(e=e||{}).divID,i=e.elem,r=e.width,n=e.height,o=e.background||"#111111",a=e.antialias,s=e.intensity||.66,c=e.near||.01,h=e.far||1e3,l=e.alpha||1,u=e.cameraPose||{x:3,y:3,z:3},p=e.cameraZoomSpeed||.5,d=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,f=e.lineTypePanAndZoomFrame||"full";this.renderer=new Ss.WebGLRenderer({antialias:a,alpha:!0}),this.renderer.setClearColor(parseInt(o.replace("#","0x"),16),l),this.renderer.sortObjects=!1,this.renderer.setSize(r,n),this.renderer.shadowMap.enabled=!1,this.renderer.autoClear=!1,this.scene=new Ss.Scene,this.camera=new Ss.PerspectiveCamera(40,r/n,c,h),this.camera.position.x=u.x,this.camera.position.y=u.y,this.camera.position.z=u.z,this.cameraControls=new Lc({scene:this.scene,camera:this.camera,displayPanAndZoomFrame:d,lineTypePanAndZoomFrame:f}),this.cameraControls.userZoomSpeed=p,this.scene.add(new Ss.AmbientLight(5592405)),this.directionalLight=new Ss.DirectionalLight(16777215,s),this.scene.add(this.directionalLight),this.selectableObjects=new Ss.Group,this.scene.add(this.selectableObjects);var m=new Ac({renderer:this.renderer,camera:this.camera,rootObject:this.selectableObjects,fallbackTarget:this.cameraControls});this.highlighter=new Sc({mouseHandler:m}),this.stopped=!0,this.animationRequestId=void 0,(i||document.getElementById(t)).appendChild(this.renderer.domElement),this.start()}start(){this.stopped=!1,this.draw()}draw(){this.stopped||(this.cameraControls.update(),this.directionalLight.position.normalize(),this.renderer.clear(!0,!0,!0),this.renderer.render(this.scene,this.camera),this.highlighter.renderHighlights(this.scene,this.renderer,this.camera),this.animationRequestId=requestAnimationFrame(this.draw.bind(this)))}stop(){this.stopped||cancelAnimationFrame(this.animationRequestId),this.stopped=!0}addObject(e,t){t?this.selectableObjects.add(e):this.scene.add(e)}resize(e,t){this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t)}},e.closestAxisPoint=Cs,e.findClosestPoint=Rs,e.intersectPlane=Ls,e.makeColorMaterial=As,Object.defineProperty(e,"__esModule",{value:!0}),e}({},ROSLIB);