lebai_sdk 0.2.17 → 0.2.19

package/lebai_sdk_bg.js

@@ -4,44 +4,15 @@ export function __wbg_set_wasm(val) {
 }
 
 
-const heap = new Array(128).fill(undefined);
-
-heap.push(undefined, null, true, false);
-
-function getObject(idx) { return heap[idx]; }
-
-let heap_next = heap.length;
-
-function dropObject(idx) {
-    if (idx < 132) return;
-    heap[idx] = heap_next;
-    heap_next = idx;
-}
-
-function takeObject(idx) {
-    const ret = getObject(idx);
-    dropObject(idx);
-    return ret;
-}
-
-function addHeapObject(obj) {
-    if (heap_next === heap.length) heap.push(heap.length + 1);
-    const idx = heap_next;
-    heap_next = heap[idx];
-
-    heap[idx] = obj;
-    return idx;
-}
-
 let WASM_VECTOR_LEN = 0;
 
-let cachedUint8Memory0 = null;
+let cachedUint8ArrayMemory0 = null;
 
-function getUint8Memory0() {
-    if (cachedUint8Memory0 === null || cachedUint8Memory0.byteLength === 0) {
-        cachedUint8Memory0 = new Uint8Array(wasm.memory.buffer);
+function getUint8ArrayMemory0() {
+    if (cachedUint8ArrayMemory0 === null || cachedUint8ArrayMemory0.byteLength === 0) {
+        cachedUint8ArrayMemory0 = new Uint8Array(wasm.memory.buffer);
     }
-    return cachedUint8Memory0;
+    return cachedUint8ArrayMemory0;
 }
 
 const lTextEncoder = typeof TextEncoder === 'undefined' ? (0, module.require)('util').TextEncoder : TextEncoder;
@@ -66,7 +37,7 @@ function passStringToWasm0(arg, malloc, realloc) {
     if (realloc === undefined) {
         const buf = cachedTextEncoder.encode(arg);
         const ptr = malloc(buf.length, 1) >>> 0;
-        getUint8Memory0().subarray(ptr, ptr + buf.length).set(buf);
+        getUint8ArrayMemory0().subarray(ptr, ptr + buf.length).set(buf);
         WASM_VECTOR_LEN = buf.length;
         return ptr;
     }
@@ -74,7 +45,7 @@ function passStringToWasm0(arg, malloc, realloc) {
     let len = arg.length;
     let ptr = malloc(len, 1) >>> 0;
 
-    const mem = getUint8Memory0();
+    const mem = getUint8ArrayMemory0();
 
     let offset = 0;
 
@@ -89,7 +60,7 @@ function passStringToWasm0(arg, malloc, realloc) {
             arg = arg.slice(offset);
         }
         ptr = realloc(ptr, len, len = offset + arg.length * 3, 1) >>> 0;
-        const view = getUint8Memory0().subarray(ptr + offset, ptr + len);
+        const view = getUint8ArrayMemory0().subarray(ptr + offset, ptr + len);
         const ret = encodeString(arg, view);
 
         offset += ret.written;
@@ -104,13 +75,13 @@ function isLikeNone(x) {
     return x === undefined || x === null;
 }
 
-let cachedInt32Memory0 = null;
+let cachedDataViewMemory0 = null;
 
-function getInt32Memory0() {
-    if (cachedInt32Memory0 === null || cachedInt32Memory0.byteLength === 0) {
-        cachedInt32Memory0 = new Int32Array(wasm.memory.buffer);
+function getDataViewMemory0() {
+    if (cachedDataViewMemory0 === null || cachedDataViewMemory0.buffer.detached === true || (cachedDataViewMemory0.buffer.detached === undefined && cachedDataViewMemory0.buffer !== wasm.memory.buffer)) {
+        cachedDataViewMemory0 = new DataView(wasm.memory.buffer);
     }
-    return cachedInt32Memory0;
+    return cachedDataViewMemory0;
 }
 
 const lTextDecoder = typeof TextDecoder === 'undefined' ? (0, module.require)('util').TextDecoder : TextDecoder;
@@ -121,25 +92,7 @@ cachedTextDecoder.decode();
 
 function getStringFromWasm0(ptr, len) {
     ptr = ptr >>> 0;
-    return cachedTextDecoder.decode(getUint8Memory0().subarray(ptr, ptr + len));
-}
-
-let cachedFloat64Memory0 = null;
-
-function getFloat64Memory0() {
-    if (cachedFloat64Memory0 === null || cachedFloat64Memory0.byteLength === 0) {
-        cachedFloat64Memory0 = new Float64Array(wasm.memory.buffer);
-    }
-    return cachedFloat64Memory0;
-}
-
-let cachedBigInt64Memory0 = null;
-
-function getBigInt64Memory0() {
-    if (cachedBigInt64Memory0 === null || cachedBigInt64Memory0.byteLength === 0) {
-        cachedBigInt64Memory0 = new BigInt64Array(wasm.memory.buffer);
-    }
-    return cachedBigInt64Memory0;
+    return cachedTextDecoder.decode(getUint8ArrayMemory0().subarray(ptr, ptr + len));
 }
 
 function debugString(val) {
@@ -210,7 +163,7 @@ function debugString(val) {
 const CLOSURE_DTORS = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(state => {
-    wasm.__wbindgen_export_2.get(state.dtor)(state.a, state.b)
+    wasm.__wbindgen_export_3.get(state.dtor)(state.a, state.b)
 });
 
 function makeMutClosure(arg0, arg1, dtor, f) {
@@ -226,7 +179,7 @@ function makeMutClosure(arg0, arg1, dtor, f) {
             return f(a, state.b, ...args);
         } finally {
             if (--state.cnt === 0) {
-                wasm.__wbindgen_export_2.get(state.dtor)(a, state.b);
+                wasm.__wbindgen_export_3.get(state.dtor)(a, state.b);
                 CLOSURE_DTORS.unregister(state);
             } else {
                 state.a = a;
@@ -237,110 +190,107 @@ function makeMutClosure(arg0, arg1, dtor, f) {
     CLOSURE_DTORS.register(real, state, state);
     return real;
 }
-function __wbg_adapter_50(arg0, arg1, arg2) {
-    wasm._dyn_core__ops__function__FnMut__A____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__h0acae28fae4ea96d(arg0, arg1, addHeapObject(arg2));
+function __wbg_adapter_52(arg0, arg1, arg2) {
+    wasm.closure715_externref_shim(arg0, arg1, arg2);
 }
 
-function __wbg_adapter_53(arg0, arg1) {
-    wasm._dyn_core__ops__function__FnMut_____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__h17d8ba5655610ca3(arg0, arg1);
+function __wbg_adapter_59(arg0, arg1) {
+    wasm._dyn_core__ops__function__FnMut_____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__heb59d1f546bcac31(arg0, arg1);
 }
 
-function __wbg_adapter_60(arg0, arg1, arg2) {
-    wasm._dyn_core__ops__function__FnMut__A____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__h96d576336492a8f4(arg0, arg1, addHeapObject(arg2));
+function __wbg_adapter_62(arg0, arg1, arg2) {
+    wasm.closure797_externref_shim(arg0, arg1, arg2);
 }
 
-function __wbg_adapter_63(arg0, arg1) {
-    wasm._dyn_core__ops__function__FnMut_____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__ha776d7ed227c2188(arg0, arg1);
+function __wbg_adapter_65(arg0, arg1) {
+    wasm._dyn_core__ops__function__FnMut_____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__h00e3e5994b15977d(arg0, arg1);
 }
 
-let cachedUint32Memory0 = null;
+function addToExternrefTable0(obj) {
+    const idx = wasm.__externref_table_alloc();
+    wasm.__wbindgen_export_2.set(idx, obj);
+    return idx;
+}
 
-function getUint32Memory0() {
-    if (cachedUint32Memory0 === null || cachedUint32Memory0.byteLength === 0) {
-        cachedUint32Memory0 = new Uint32Array(wasm.memory.buffer);
+let cachedUint32ArrayMemory0 = null;
+
+function getUint32ArrayMemory0() {
+    if (cachedUint32ArrayMemory0 === null || cachedUint32ArrayMemory0.byteLength === 0) {
+        cachedUint32ArrayMemory0 = new Uint32Array(wasm.memory.buffer);
     }
-    return cachedUint32Memory0;
+    return cachedUint32ArrayMemory0;
 }
 
 function passArray32ToWasm0(arg, malloc) {
     const ptr = malloc(arg.length * 4, 4) >>> 0;
-    getUint32Memory0().set(arg, ptr / 4);
+    getUint32ArrayMemory0().set(arg, ptr / 4);
     WASM_VECTOR_LEN = arg.length;
     return ptr;
 }
 /**
-* @param {string} ip
-* @param {boolean} simu
-* @returns {Promise<Robot>}
-*/
+ * @param {string} ip
+ * @param {boolean} simu
+ * @returns {Promise<Robot>}
+ */
 export function connect(ip, simu) {
     const ptr0 = passStringToWasm0(ip, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
     const len0 = WASM_VECTOR_LEN;
     const ret = wasm.connect(ptr0, len0, simu);
-    return takeObject(ret);
+    return ret;
 }
 
 /**
-* @param {number} time
-* @returns {Promise<any>}
-*/
+ * @param {number} time
+ * @returns {Promise<any>}
+ */
 export function discover_devices(time) {
     const ret = wasm.discover_devices(time);
-    return takeObject(ret);
+    return ret;
 }
 
 /**
-* @param {any} ms
-* @returns {Promise<void>}
-*/
+ * @param {any} ms
+ * @returns {Promise<void>}
+ */
 export function sleep_ms(ms) {
-    const ret = wasm.sleep_ms(addHeapObject(ms));
-    return takeObject(ret);
+    const ret = wasm.sleep_ms(ms);
+    return ret;
 }
 
+function takeFromExternrefTable0(idx) {
+    const value = wasm.__wbindgen_export_2.get(idx);
+    wasm.__externref_table_dealloc(idx);
+    return value;
+}
 /**
-* @returns {any}
-*/
+ * @returns {any}
+ */
 export function timestamp() {
-    try {
-        const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);
-        wasm.timestamp(retptr);
-        var r0 = getInt32Memory0()[retptr / 4 + 0];
-        var r1 = getInt32Memory0()[retptr / 4 + 1];
-        var r2 = getInt32Memory0()[retptr / 4 + 2];
-        if (r2) {
-            throw takeObject(r1);
-        }
-        return takeObject(r0);
-    } finally {
-        wasm.__wbindgen_add_to_stack_pointer(16);
+    const ret = wasm.timestamp();
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
     }
+    return takeFromExternrefTable0(ret[0]);
 }
 
 /**
-* @returns {string}
-*/
+ * @returns {string}
+ */
 export function version() {
     let deferred2_0;
     let deferred2_1;
     try {
-        const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);
-        wasm.version(retptr);
-        var r0 = getInt32Memory0()[retptr / 4 + 0];
-        var r1 = getInt32Memory0()[retptr / 4 + 1];
-        var r2 = getInt32Memory0()[retptr / 4 + 2];
-        var r3 = getInt32Memory0()[retptr / 4 + 3];
-        var ptr1 = r0;
-        var len1 = r1;
-        if (r3) {
+        const ret = wasm.version();
+        var ptr1 = ret[0];
+        var len1 = ret[1];
+        if (ret[3]) {
             ptr1 = 0; len1 = 0;
-            throw takeObject(r2);
+            throw takeFromExternrefTable0(ret[2]);
         }
         deferred2_0 = ptr1;
         deferred2_1 = len1;
         return getStringFromWasm0(ptr1, len1);
     } finally {
-        wasm.__wbindgen_add_to_stack_pointer(16);
         wasm.__wbindgen_free(deferred2_0, deferred2_1, 1);
     }
 }
@@ -349,23 +299,27 @@ function handleError(f, args) {
     try {
         return f.apply(this, args);
     } catch (e) {
-        wasm.__wbindgen_exn_store(addHeapObject(e));
+        const idx = addToExternrefTable0(e);
+        wasm.__wbindgen_exn_store(idx);
     }
 }
 
 function getArrayU8FromWasm0(ptr, len) {
     ptr = ptr >>> 0;
-    return getUint8Memory0().subarray(ptr / 1, ptr / 1 + len);
+    return getUint8ArrayMemory0().subarray(ptr / 1, ptr / 1 + len);
 }
-function __wbg_adapter_259(arg0, arg1, arg2, arg3) {
-    wasm.wasm_bindgen__convert__closures__invoke2_mut__h6e41000e25534132(arg0, arg1, addHeapObject(arg2), addHeapObject(arg3));
+
+function notDefined(what) { return () => { throw new Error(`${what} is not defined`); }; }
+function __wbg_adapter_268(arg0, arg1, arg2, arg3) {
+    wasm.closure886_externref_shim(arg0, arg1, arg2, arg3);
 }
 
+const __wbindgen_enum_BinaryType = ["blob", "arraybuffer"];
+
 const RobotFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
-    : new FinalizationRegistry(ptr => wasm.__wbg_robot_free(ptr >>> 0));
-/**
-*/
+    : new FinalizationRegistry(ptr => wasm.__wbg_robot_free(ptr >>> 0, 1));
+
 export class Robot {
 
     static __wrap(ptr) {
@@ -385,976 +339,982 @@ export class Robot {
 
     free() {
         const ptr = this.__destroy_into_raw();
-        wasm.__wbg_robot_free(ptr);
+        wasm.__wbg_robot_free(ptr, 0);
     }
     /**
-    * @returns {Promise<boolean>}
-    */
+     * @returns {Promise<boolean>}
+     */
     is_connected() {
         const ret = wasm.robot_is_connected(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<string>}
-    */
+     * @returns {Promise<string>}
+     */
     wait_disconnect() {
         const ret = wasm.robot_wait_disconnect(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} method
-    * @param {string | undefined} [param]
-    * @returns {Promise<string>}
-    */
+     * @param {string} method
+     * @param {string | undefined} [param]
+     * @returns {Promise<string>}
+     */
     call(method, param) {
         const ptr0 = passStringToWasm0(method, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(param) ? 0 : passStringToWasm0(param, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_call(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} method
-    * @param {string | undefined} [param]
-    * @returns {Promise<RobotSubscription>}
-    */
+     * @param {string} method
+     * @param {string | undefined} [param]
+     * @returns {Promise<RobotSubscription>}
+     */
     subscribe(method, param) {
         const ptr0 = passStringToWasm0(method, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(param) ? 0 : passStringToWasm0(param, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_subscribe(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @returns {Promise<any>}
-    */
+     * @param {any} p
+     * @returns {Promise<any>}
+     */
     kinematics_forward(p) {
-        const ret = wasm.robot_kinematics_forward(this.__wbg_ptr, addHeapObject(p));
-        return takeObject(ret);
+        const ret = wasm.robot_kinematics_forward(this.__wbg_ptr, p);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {any | undefined} [refer]
-    * @returns {Promise<any>}
-    */
+     * @param {any} p
+     * @param {any | undefined} [refer]
+     * @returns {Promise<any>}
+     */
     kinematics_inverse(p, refer) {
-        const ret = wasm.robot_kinematics_inverse(this.__wbg_ptr, addHeapObject(p), isLikeNone(refer) ? 0 : addHeapObject(refer));
-        return takeObject(ret);
+        const ret = wasm.robot_kinematics_inverse(this.__wbg_ptr, p, isLikeNone(refer) ? 0 : addToExternrefTable0(refer));
+        return ret;
     }
     /**
-    * @param {any} from
-    * @param {any} to
-    * @returns {Promise<any>}
-    */
+     * @param {any} from
+     * @param {any} to
+     * @returns {Promise<any>}
+     */
     pose_trans(from, to) {
-        const ret = wasm.robot_pose_trans(this.__wbg_ptr, addHeapObject(from), addHeapObject(to));
-        return takeObject(ret);
+        const ret = wasm.robot_pose_trans(this.__wbg_ptr, from, to);
+        return ret;
     }
     /**
-    * @param {any} pose
-    * @param {any} delta
-    * @param {any | undefined} [frame]
-    * @returns {Promise<any>}
-    */
+     * @param {any} pose
+     * @param {any} delta
+     * @param {any | undefined} [frame]
+     * @returns {Promise<any>}
+     */
     pose_add(pose, delta, frame) {
-        const ret = wasm.robot_pose_add(this.__wbg_ptr, addHeapObject(pose), addHeapObject(delta), isLikeNone(frame) ? 0 : addHeapObject(frame));
-        return takeObject(ret);
+        const ret = wasm.robot_pose_add(this.__wbg_ptr, pose, delta, isLikeNone(frame) ? 0 : addToExternrefTable0(frame));
+        return ret;
     }
     /**
-    * @param {any} p
-    * @returns {Promise<any>}
-    */
+     * @param {any} p
+     * @returns {Promise<any>}
+     */
     pose_inverse(p) {
-        const ret = wasm.robot_pose_inverse(this.__wbg_ptr, addHeapObject(p));
-        return takeObject(ret);
+        const ret = wasm.robot_pose_inverse(this.__wbg_ptr, p);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {any | undefined} [pose]
-    * @param {string | undefined} [dir]
-    * @param {any | undefined} [refer]
-    * @returns {Promise<void>}
-    */
+     * @param {string} name
+     * @param {any | undefined} [pose]
+     * @param {string | undefined} [dir]
+     * @param {any | undefined} [refer]
+     * @returns {Promise<void>}
+     */
     save_pose(name, pose, dir, refer) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_save_pose(this.__wbg_ptr, ptr0, len0, isLikeNone(pose) ? 0 : addHeapObject(pose), ptr1, len1, isLikeNone(refer) ? 0 : addHeapObject(refer));
-        return takeObject(ret);
+        const ret = wasm.robot_save_pose(this.__wbg_ptr, ptr0, len0, isLikeNone(pose) ? 0 : addToExternrefTable0(pose), ptr1, len1, isLikeNone(refer) ? 0 : addToExternrefTable0(refer));
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {string | undefined} [dir]
-    * @param {boolean | undefined} [raw_pose]
-    * @returns {Promise<any>}
-    */
+     * @param {string} name
+     * @param {string | undefined} [dir]
+     * @param {boolean | undefined} [raw_pose]
+     * @returns {Promise<any>}
+     */
     load_pose(name, dir, raw_pose) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_load_pose(this.__wbg_ptr, ptr0, len0, ptr1, len1, isLikeNone(raw_pose) ? 0xFFFFFF : raw_pose ? 1 : 0);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {string | undefined} [dir]
-    * @returns {Promise<any>}
-    */
+     * @param {string} name
+     * @param {string | undefined} [dir]
+     * @returns {Promise<any>}
+     */
     load_frame(name, dir) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_load_frame(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     pause_move() {
         const ret = wasm.robot_pause_move(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     resume_move() {
         const ret = wasm.robot_resume_move(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     stop_move() {
         const ret = wasm.robot_stop_move(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [id]
-    * @returns {Promise<void>}
-    */
+     * @param {number | undefined} [id]
+     * @returns {Promise<void>}
+     */
     wait_move(id) {
         const ret = wasm.robot_wait_move(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<number>}
-    */
+     * @returns {Promise<number>}
+     */
     get_running_motion() {
         const ret = wasm.robot_get_running_motion(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} id
-    * @returns {Promise<string>}
-    */
+     * @param {number} id
+     * @returns {Promise<string>}
+     */
     get_motion_state(id) {
         const ret = wasm.robot_get_motion_state(this.__wbg_ptr, id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {number} a
-    * @param {number} v
-    * @param {number | undefined} [t]
-    * @param {number | undefined} [r]
-    * @returns {Promise<number>}
-    */
+     * @param {any} p
+     * @param {number} a
+     * @param {number} v
+     * @param {number | undefined} [t]
+     * @param {number | undefined} [r]
+     * @returns {Promise<number>}
+     */
     towardj(p, a, v, t, r) {
-        const ret = wasm.robot_towardj(this.__wbg_ptr, addHeapObject(p), a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
-        return takeObject(ret);
+        const ret = wasm.robot_towardj(this.__wbg_ptr, p, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {number} a
-    * @param {number} v
-    * @param {number | undefined} [t]
-    * @param {number | undefined} [r]
-    * @returns {Promise<number>}
-    */
+     * @param {any} p
+     * @param {number} a
+     * @param {number} v
+     * @param {number | undefined} [t]
+     * @param {number | undefined} [r]
+     * @returns {Promise<number>}
+     */
     movej(p, a, v, t, r) {
-        const ret = wasm.robot_movej(this.__wbg_ptr, addHeapObject(p), a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
-        return takeObject(ret);
+        const ret = wasm.robot_movej(this.__wbg_ptr, p, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {number} a
-    * @param {number} v
-    * @param {number | undefined} [t]
-    * @param {number | undefined} [r]
-    * @returns {Promise<number>}
-    */
+     * @param {any} p
+     * @param {number} a
+     * @param {number} v
+     * @param {number | undefined} [t]
+     * @param {number | undefined} [r]
+     * @returns {Promise<number>}
+     */
     movel(p, a, v, t, r) {
-        const ret = wasm.robot_movel(this.__wbg_ptr, addHeapObject(p), a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
-        return takeObject(ret);
-    }
-    /**
-    * @param {any} via
-    * @param {any} p
-    * @param {number} rad
-    * @param {number} a
-    * @param {number} v
-    * @param {number | undefined} [t]
-    * @param {number | undefined} [r]
-    * @returns {Promise<number>}
-    */
+        const ret = wasm.robot_movel(this.__wbg_ptr, p, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return ret;
+    }
+    /**
+     * @param {any} via
+     * @param {any} p
+     * @param {number} rad
+     * @param {number} a
+     * @param {number} v
+     * @param {number | undefined} [t]
+     * @param {number | undefined} [r]
+     * @returns {Promise<number>}
+     */
     movec(via, p, rad, a, v, t, r) {
-        const ret = wasm.robot_movec(this.__wbg_ptr, addHeapObject(via), addHeapObject(p), rad, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
-        return takeObject(ret);
+        const ret = wasm.robot_movec(this.__wbg_ptr, via, p, rad, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {any} v
-    * @param {any} a
-    * @param {number} t
-    * @returns {Promise<void>}
-    */
+     * @param {any} p
+     * @param {any} v
+     * @param {any} a
+     * @param {number} t
+     * @returns {Promise<void>}
+     */
     move_pvat(p, v, a, t) {
-        const ret = wasm.robot_move_pvat(this.__wbg_ptr, addHeapObject(p), addHeapObject(v), addHeapObject(a), t);
-        return takeObject(ret);
+        const ret = wasm.robot_move_pvat(this.__wbg_ptr, p, v, a, t);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {any} v
-    * @param {number} t
-    * @returns {Promise<void>}
-    */
+     * @param {any} p
+     * @param {any} v
+     * @param {number} t
+     * @returns {Promise<void>}
+     */
     move_pvt(p, v, t) {
-        const ret = wasm.robot_move_pvt(this.__wbg_ptr, addHeapObject(p), addHeapObject(v), t);
-        return takeObject(ret);
+        const ret = wasm.robot_move_pvt(this.__wbg_ptr, p, v, t);
+        return ret;
     }
     /**
-    * @param {any} p
-    * @param {number} t
-    * @returns {Promise<void>}
-    */
+     * @param {any} p
+     * @param {number} t
+     * @returns {Promise<void>}
+     */
     move_pt(p, t) {
-        const ret = wasm.robot_move_pt(this.__wbg_ptr, addHeapObject(p), t);
-        return takeObject(ret);
+        const ret = wasm.robot_move_pt(this.__wbg_ptr, p, t);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {string | undefined} [dir]
-    * @returns {Promise<number>}
-    */
+     * @param {string} name
+     * @param {string | undefined} [dir]
+     * @returns {Promise<number>}
+     */
     move_trajectory(name, dir) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_move_trajectory(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} a
-    * @param {any} v
-    * @param {number | undefined} [t]
-    * @returns {Promise<number>}
-    */
+     * @param {number} a
+     * @param {any} v
+     * @param {number | undefined} [t]
+     * @returns {Promise<number>}
+     */
     speedj(a, v, t) {
-        const ret = wasm.robot_speedj(this.__wbg_ptr, a, addHeapObject(v), !isLikeNone(t), isLikeNone(t) ? 0 : t);
-        return takeObject(ret);
+        const ret = wasm.robot_speedj(this.__wbg_ptr, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t);
+        return ret;
     }
     /**
-    * @param {number} a
-    * @param {any} v
-    * @param {number | undefined} [t]
-    * @param {any | undefined} [frame]
-    * @returns {Promise<number>}
-    */
+     * @param {number} a
+     * @param {any} v
+     * @param {number | undefined} [t]
+     * @param {any | undefined} [frame]
+     * @returns {Promise<number>}
+     */
     speedl(a, v, t, frame) {
-        const ret = wasm.robot_speedl(this.__wbg_ptr, a, addHeapObject(v), !isLikeNone(t), isLikeNone(t) ? 0 : t, isLikeNone(frame) ? 0 : addHeapObject(frame));
-        return takeObject(ret);
+        const ret = wasm.robot_speedl(this.__wbg_ptr, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, isLikeNone(frame) ? 0 : addToExternrefTable0(frame));
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     teach_mode() {
         const ret = wasm.robot_teach_mode(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     end_teach_mode() {
         const ret = wasm.robot_end_teach_mode(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @param {number} value
-    * @returns {Promise<void>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @param {number} value
+     * @returns {Promise<void>}
+     */
     set_do(device, pin, value) {
-        const ret = wasm.robot_set_do(this.__wbg_ptr, addHeapObject(device), pin, value);
-        return takeObject(ret);
+        const ret = wasm.robot_set_do(this.__wbg_ptr, device, pin, value);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @returns {Promise<number>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @returns {Promise<number>}
+     */
     get_do(device, pin) {
-        const ret = wasm.robot_get_do(this.__wbg_ptr, addHeapObject(device), pin);
-        return takeObject(ret);
+        const ret = wasm.robot_get_do(this.__wbg_ptr, device, pin);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @param {number} num
-    * @returns {Promise<any>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @param {number} num
+     * @returns {Promise<any>}
+     */
     get_dos(device, pin, num) {
-        const ret = wasm.robot_get_dos(this.__wbg_ptr, addHeapObject(device), pin, num);
-        return takeObject(ret);
+        const ret = wasm.robot_get_dos(this.__wbg_ptr, device, pin, num);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @returns {Promise<number>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @returns {Promise<number>}
+     */
     get_di(device, pin) {
-        const ret = wasm.robot_get_di(this.__wbg_ptr, addHeapObject(device), pin);
-        return takeObject(ret);
+        const ret = wasm.robot_get_di(this.__wbg_ptr, device, pin);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @param {number} num
-    * @returns {Promise<any>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @param {number} num
+     * @returns {Promise<any>}
+     */
     get_dis(device, pin, num) {
-        const ret = wasm.robot_get_dis(this.__wbg_ptr, addHeapObject(device), pin, num);
-        return takeObject(ret);
+        const ret = wasm.robot_get_dis(this.__wbg_ptr, device, pin, num);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @param {number} value
-    * @returns {Promise<void>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @param {number} value
+     * @returns {Promise<void>}
+     */
     set_ao(device, pin, value) {
-        const ret = wasm.robot_set_ao(this.__wbg_ptr, addHeapObject(device), pin, value);
-        return takeObject(ret);
+        const ret = wasm.robot_set_ao(this.__wbg_ptr, device, pin, value);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @returns {Promise<number>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @returns {Promise<number>}
+     */
     get_ao(device, pin) {
-        const ret = wasm.robot_get_ao(this.__wbg_ptr, addHeapObject(device), pin);
-        return takeObject(ret);
+        const ret = wasm.robot_get_ao(this.__wbg_ptr, device, pin);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @param {number} num
-    * @returns {Promise<any>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @param {number} num
+     * @returns {Promise<any>}
+     */
     get_aos(device, pin, num) {
-        const ret = wasm.robot_get_aos(this.__wbg_ptr, addHeapObject(device), pin, num);
-        return takeObject(ret);
+        const ret = wasm.robot_get_aos(this.__wbg_ptr, device, pin, num);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @returns {Promise<number>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @returns {Promise<number>}
+     */
     get_ai(device, pin) {
-        const ret = wasm.robot_get_ai(this.__wbg_ptr, addHeapObject(device), pin);
-        return takeObject(ret);
+        const ret = wasm.robot_get_ai(this.__wbg_ptr, device, pin);
+        return ret;
     }
     /**
-    * @param {any} device
-    * @param {number} pin
-    * @param {number} num
-    * @returns {Promise<any>}
-    */
+     * @param {any} device
+     * @param {number} pin
+     * @param {number} num
+     * @returns {Promise<any>}
+     */
     get_ais(device, pin, num) {
-        const ret = wasm.robot_get_ais(this.__wbg_ptr, addHeapObject(device), pin, num);
-        return takeObject(ret);
+        const ret = wasm.robot_get_ais(this.__wbg_ptr, device, pin, num);
+        return ret;
     }
     /**
-    * @param {number} index
-    * @param {number} value
-    * @returns {Promise<void>}
-    */
+     * @param {number} index
+     * @param {number} value
+     * @returns {Promise<void>}
+     */
     set_signal(index, value) {
         const ret = wasm.robot_set_signal(this.__wbg_ptr, index, value);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} index
-    * @param {any} values
-    * @returns {Promise<void>}
-    */
+     * @param {number} index
+     * @param {any} values
+     * @returns {Promise<void>}
+     */
     set_signals(index, values) {
-        const ret = wasm.robot_set_signals(this.__wbg_ptr, index, addHeapObject(values));
-        return takeObject(ret);
+        const ret = wasm.robot_set_signals(this.__wbg_ptr, index, values);
+        return ret;
     }
     /**
-    * @param {number} index
-    * @returns {Promise<number>}
-    */
+     * @param {number} index
+     * @returns {Promise<number>}
+     */
     get_signal(index) {
         const ret = wasm.robot_get_signal(this.__wbg_ptr, index);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} index
-    * @param {number} len
-    * @returns {Promise<any>}
-    */
+     * @param {number} index
+     * @param {number} len
+     * @returns {Promise<any>}
+     */
     get_signals(index, len) {
         const ret = wasm.robot_get_signals(this.__wbg_ptr, index, len);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} index
-    * @param {number} value
-    * @returns {Promise<void>}
-    */
+     * @param {number} index
+     * @param {number} value
+     * @returns {Promise<void>}
+     */
     add_signal(index, value) {
         const ret = wasm.robot_add_signal(this.__wbg_ptr, index, value);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} key
-    * @param {string} value
-    * @returns {Promise<void>}
-    */
+     * @param {string} key
+     * @param {string} value
+     * @returns {Promise<void>}
+     */
     set_item(key, value) {
         const ptr0 = passStringToWasm0(key, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(value, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_set_item(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} key
-    * @returns {Promise<any>}
-    */
+     * @param {string} key
+     * @returns {Promise<any>}
+     */
     get_item(key) {
         const ptr0 = passStringToWasm0(key, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_get_item(this.__wbg_ptr, ptr0, len0);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} prefix
-    * @returns {Promise<any>}
-    */
+     * @param {string} prefix
+     * @returns {Promise<any>}
+     */
     get_items(prefix) {
         const ptr0 = passStringToWasm0(prefix, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_get_items(this.__wbg_ptr, ptr0, len0);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {any | undefined} [params]
-    * @returns {Promise<any>}
-    */
+     * @param {string} name
+     * @param {any | undefined} [params]
+     * @returns {Promise<any>}
+     */
     run_plugin_cmd(name, params) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_run_plugin_cmd(this.__wbg_ptr, ptr0, len0, isLikeNone(params) ? 0 : addHeapObject(params));
-        return takeObject(ret);
+        const ret = wasm.robot_run_plugin_cmd(this.__wbg_ptr, ptr0, len0, isLikeNone(params) ? 0 : addToExternrefTable0(params));
+        return ret;
     }
     /**
-    * @param {string} scene
-    * @param {any | undefined} [params]
-    * @param {string | undefined} [dir]
-    * @param {boolean | undefined} [is_parallel]
-    * @param {number | undefined} [loop_to]
-    * @returns {Promise<number>}
-    */
+     * @param {string} scene
+     * @param {any | undefined} [params]
+     * @param {string | undefined} [dir]
+     * @param {boolean | undefined} [is_parallel]
+     * @param {number | undefined} [loop_to]
+     * @returns {Promise<number>}
+     */
     start_task(scene, params, dir, is_parallel, loop_to) {
         const ptr0 = passStringToWasm0(scene, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_start_task(this.__wbg_ptr, ptr0, len0, isLikeNone(params) ? 0 : addHeapObject(params), ptr1, len1, isLikeNone(is_parallel) ? 0xFFFFFF : is_parallel ? 1 : 0, !isLikeNone(loop_to), isLikeNone(loop_to) ? 0 : loop_to);
-        return takeObject(ret);
+        const ret = wasm.robot_start_task(this.__wbg_ptr, ptr0, len0, isLikeNone(params) ? 0 : addToExternrefTable0(params), ptr1, len1, isLikeNone(is_parallel) ? 0xFFFFFF : is_parallel ? 1 : 0, !isLikeNone(loop_to), isLikeNone(loop_to) ? 0 : loop_to);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_task_list() {
         const ret = wasm.robot_get_task_list(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<number | undefined>}
-    */
+     * @returns {Promise<number | undefined>}
+     */
     get_main_task_id() {
         const ret = wasm.robot_get_main_task_id(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [id]
-    * @returns {Promise<string>}
-    */
+     * @param {number | undefined} [id]
+     * @returns {Promise<string>}
+     */
     wait_task(id) {
         const ret = wasm.robot_wait_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [id]
-    * @returns {Promise<string>}
-    */
+     * @param {number | undefined} [id]
+     * @returns {Promise<string>}
+     */
     get_task_state(id) {
         const ret = wasm.robot_get_task_state(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [id]
-    * @returns {Promise<void>}
-    */
+     * @param {number | undefined} [id]
+     * @returns {Promise<void>}
+     */
     cancel_task(id) {
         const ret = wasm.robot_cancel_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [id]
-    * @returns {Promise<void>}
-    */
+     * @param {number | undefined} [id]
+     * @returns {Promise<void>}
+     */
     pause_task(id) {
         const ret = wasm.robot_pause_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [id]
-    * @returns {Promise<void>}
-    */
+     * @param {number | undefined} [id]
+     * @returns {Promise<void>}
+     */
     resume_task(id) {
         const ret = wasm.robot_resume_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {number} timeout
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {number} timeout
+     * @returns {Promise<void>}
+     */
     set_serial_timeout(device, timeout) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_set_serial_timeout(this.__wbg_ptr, ptr0, len0, timeout);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {number} baud_rate
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {number} baud_rate
+     * @returns {Promise<void>}
+     */
     set_serial_baud_rate(device, baud_rate) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_set_serial_baud_rate(this.__wbg_ptr, ptr0, len0, baud_rate);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {any} parity
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {any} parity
+     * @returns {Promise<void>}
+     */
     set_serial_parity(device, parity) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_set_serial_parity(this.__wbg_ptr, ptr0, len0, addHeapObject(parity));
-        return takeObject(ret);
+        const ret = wasm.robot_set_serial_parity(this.__wbg_ptr, ptr0, len0, parity);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {any} data
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {any} data
+     * @returns {Promise<void>}
+     */
     write_serial(device, data) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_write_serial(this.__wbg_ptr, ptr0, len0, addHeapObject(data));
-        return takeObject(ret);
+        const ret = wasm.robot_write_serial(this.__wbg_ptr, ptr0, len0, data);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {number} len
-    * @returns {Promise<any>}
-    */
+     * @param {string} device
+     * @param {number} len
+     * @returns {Promise<any>}
+     */
     read_serial(device, len) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_read_serial(this.__wbg_ptr, ptr0, len0, len);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {number} timeout
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {number} timeout
+     * @returns {Promise<void>}
+     */
     set_modbus_timeout(device, timeout) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_set_modbus_timeout(this.__wbg_ptr, ptr0, len0, timeout);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {boolean} value
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {boolean} value
+     * @returns {Promise<void>}
+     */
     write_single_coil(device, pin, value) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_write_single_coil(this.__wbg_ptr, ptr0, len0, ptr1, len1, value);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {any} values
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {any} values
+     * @returns {Promise<void>}
+     */
     write_multiple_coils(device, pin, values) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_write_multiple_coils(this.__wbg_ptr, ptr0, len0, ptr1, len1, addHeapObject(values));
-        return takeObject(ret);
+        const ret = wasm.robot_write_multiple_coils(this.__wbg_ptr, ptr0, len0, ptr1, len1, values);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {number} count
-    * @returns {Promise<any>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {number} count
+     * @returns {Promise<any>}
+     */
     read_coils(device, pin, count) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_read_coils(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {number} count
-    * @returns {Promise<any>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {number} count
+     * @returns {Promise<any>}
+     */
     read_discrete_inputs(device, pin, count) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_read_discrete_inputs(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {number} value
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {number} value
+     * @returns {Promise<void>}
+     */
     write_single_register(device, pin, value) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_write_single_register(this.__wbg_ptr, ptr0, len0, ptr1, len1, value);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {any} values
-    * @returns {Promise<void>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {any} values
+     * @returns {Promise<void>}
+     */
     write_multiple_registers(device, pin, values) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
-        const ret = wasm.robot_write_multiple_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, addHeapObject(values));
-        return takeObject(ret);
+        const ret = wasm.robot_write_multiple_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, values);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {number} count
-    * @returns {Promise<any>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {number} count
+     * @returns {Promise<any>}
+     */
     read_holding_registers(device, pin, count) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_read_holding_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} device
-    * @param {string} pin
-    * @param {number} count
-    * @returns {Promise<any>}
-    */
+     * @param {string} device
+     * @param {string} pin
+     * @param {number} count
+     * @returns {Promise<any>}
+     */
     read_input_registers(device, pin, count) {
         const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_read_input_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {boolean | undefined} [force]
-    * @returns {Promise<void>}
-    */
+     * @param {boolean | undefined} [force]
+     * @returns {Promise<void>}
+     */
     init_claw(force) {
         const ret = wasm.robot_init_claw(this.__wbg_ptr, isLikeNone(force) ? 0xFFFFFF : force ? 1 : 0);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [force]
-    * @param {number | undefined} [amplitude]
-    * @returns {Promise<void>}
-    */
+     * @param {number | undefined} [force]
+     * @param {number | undefined} [amplitude]
+     * @returns {Promise<void>}
+     */
     set_claw(force, amplitude) {
         const ret = wasm.robot_set_claw(this.__wbg_ptr, !isLikeNone(force), isLikeNone(force) ? 0 : force, !isLikeNone(amplitude), isLikeNone(amplitude) ? 0 : amplitude);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_claw() {
         const ret = wasm.robot_get_claw(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {string | undefined} [dir]
-    * @returns {Promise<any>}
-    */
+     * @param {string} name
+     * @param {string | undefined} [dir]
+     * @returns {Promise<any>}
+     */
     load_led_style(name, dir) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_load_led_style(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {any} style
-    * @returns {Promise<void>}
-    */
+     * @param {any} style
+     * @returns {Promise<void>}
+     */
     set_led_style(style) {
-        const ret = wasm.robot_set_led_style(this.__wbg_ptr, addHeapObject(style));
-        return takeObject(ret);
+        const ret = wasm.robot_set_led_style(this.__wbg_ptr, style);
+        return ret;
     }
     /**
-    * @param {number} mode
-    * @param {number} speed
-    * @param {Int32Array} colors
-    * @returns {Promise<void>}
-    */
+     * @param {number} mode
+     * @param {number} speed
+     * @param {Int32Array} colors
+     * @returns {Promise<void>}
+     */
     set_led(mode, speed, colors) {
         const ptr0 = passArray32ToWasm0(colors, wasm.__wbindgen_malloc);
         const len0 = WASM_VECTOR_LEN;
         const ret = wasm.robot_set_led(this.__wbg_ptr, mode, speed, ptr0, len0);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} voice
-    * @param {number} volume
-    * @returns {Promise<void>}
-    */
+     * @param {number} voice
+     * @param {number} volume
+     * @returns {Promise<void>}
+     */
     set_voice(voice, volume) {
         const ret = wasm.robot_set_voice(this.__wbg_ptr, voice, volume);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} mode
-    * @returns {Promise<void>}
-    */
+     * @param {number} mode
+     * @returns {Promise<void>}
+     */
     set_fan(mode) {
         const ret = wasm.robot_set_fan(this.__wbg_ptr, mode);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     start_sys() {
         const ret = wasm.robot_start_sys(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     stop_sys() {
         const ret = wasm.robot_stop_sys(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     powerdown() {
         const ret = wasm.robot_powerdown(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     reboot() {
         const ret = wasm.robot_reboot(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     stop() {
         const ret = wasm.robot_stop(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<void>}
-    */
+     * @returns {Promise<void>}
+     */
     estop() {
         const ret = wasm.robot_estop(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {string | undefined} [dir]
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<void>}
+     */
+    find_zero() {
+        const ret = wasm.robot_find_zero(this.__wbg_ptr);
+        return ret;
+    }
+    /**
+     * @param {string} name
+     * @param {string | undefined} [dir]
+     * @returns {Promise<any>}
+     */
     load_tcp(name, dir) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_load_tcp(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {any} pose
-    * @returns {Promise<void>}
-    */
+     * @param {any} pose
+     * @returns {Promise<void>}
+     */
     set_tcp(pose) {
-        const ret = wasm.robot_set_tcp(this.__wbg_ptr, addHeapObject(pose));
-        return takeObject(ret);
+        const ret = wasm.robot_set_tcp(this.__wbg_ptr, pose);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_tcp() {
         const ret = wasm.robot_get_tcp(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number} speed_factor
-    * @returns {Promise<void>}
-    */
+     * @param {number} speed_factor
+     * @returns {Promise<void>}
+     */
     set_velocity_factor(speed_factor) {
         const ret = wasm.robot_set_velocity_factor(this.__wbg_ptr, speed_factor);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<number>}
-    */
+     * @returns {Promise<number>}
+     */
     get_velocity_factor() {
         const ret = wasm.robot_get_velocity_factor(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_estop_reason() {
         const ret = wasm.robot_get_estop_reason(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_kin_data() {
         const ret = wasm.robot_get_kin_data(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_robot_state() {
         const ret = wasm.robot_get_robot_state(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_phy_data() {
         const ret = wasm.robot_get_phy_data(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {string} name
-    * @param {string | undefined} [dir]
-    * @returns {Promise<any>}
-    */
+     * @param {string} name
+     * @param {string | undefined} [dir]
+     * @returns {Promise<any>}
+     */
     load_payload(name, dir) {
         const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         const len0 = WASM_VECTOR_LEN;
         var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
         var len1 = WASM_VECTOR_LEN;
         const ret = wasm.robot_load_payload(this.__wbg_ptr, ptr0, len0, ptr1, len1);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {number | undefined} [mass]
-    * @param {any | undefined} [cog]
-    * @returns {Promise<void>}
-    */
+     * @param {number | undefined} [mass]
+     * @param {any | undefined} [cog]
+     * @returns {Promise<void>}
+     */
     set_payload(mass, cog) {
-        const ret = wasm.robot_set_payload(this.__wbg_ptr, !isLikeNone(mass), isLikeNone(mass) ? 0 : mass, isLikeNone(cog) ? 0 : addHeapObject(cog));
-        return takeObject(ret);
+        const ret = wasm.robot_set_payload(this.__wbg_ptr, !isLikeNone(mass), isLikeNone(mass) ? 0 : mass, isLikeNone(cog) ? 0 : addToExternrefTable0(cog));
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_payload() {
         const ret = wasm.robot_get_payload(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
     /**
-    * @param {any} pose
-    * @returns {Promise<void>}
-    */
+     * @param {any} pose
+     * @returns {Promise<void>}
+     */
     set_gravity(pose) {
-        const ret = wasm.robot_set_gravity(this.__wbg_ptr, addHeapObject(pose));
-        return takeObject(ret);
+        const ret = wasm.robot_set_gravity(this.__wbg_ptr, pose);
+        return ret;
     }
     /**
-    * @returns {Promise<any>}
-    */
+     * @returns {Promise<any>}
+     */
     get_gravity() {
         const ret = wasm.robot_get_gravity(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
 }
 
 const RobotSubscriptionFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
-    : new FinalizationRegistry(ptr => wasm.__wbg_robotsubscription_free(ptr >>> 0));
-/**
-*/
+    : new FinalizationRegistry(ptr => wasm.__wbg_robotsubscription_free(ptr >>> 0, 1));
+
 export class RobotSubscription {
 
     static __wrap(ptr) {
@@ -1374,70 +1334,66 @@ export class RobotSubscription {
 
     free() {
         const ptr = this.__destroy_into_raw();
-        wasm.__wbg_robotsubscription_free(ptr);
+        wasm.__wbg_robotsubscription_free(ptr, 0);
     }
     /**
-    * @returns {Promise<string | undefined>}
-    */
+     * @returns {Promise<string | undefined>}
+     */
     next() {
         const ret = wasm.robotsubscription_next(this.__wbg_ptr);
-        return takeObject(ret);
+        return ret;
     }
 }
 
-export function __wbindgen_object_drop_ref(arg0) {
-    takeObject(arg0);
-};
-
-export function __wbindgen_number_new(arg0) {
-    const ret = arg0;
-    return addHeapObject(ret);
-};
-
 export function __wbindgen_string_get(arg0, arg1) {
-    const obj = getObject(arg1);
+    const obj = arg1;
     const ret = typeof(obj) === 'string' ? obj : undefined;
     var ptr1 = isLikeNone(ret) ? 0 : passStringToWasm0(ret, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
     var len1 = WASM_VECTOR_LEN;
-    getInt32Memory0()[arg0 / 4 + 1] = len1;
-    getInt32Memory0()[arg0 / 4 + 0] = ptr1;
+    getDataViewMemory0().setInt32(arg0 + 4 * 1, len1, true);
+    getDataViewMemory0().setInt32(arg0 + 4 * 0, ptr1, true);
 };
 
-export function __wbg_robot_new(arg0) {
-    const ret = Robot.__wrap(arg0);
-    return addHeapObject(ret);
+export function __wbindgen_number_new(arg0) {
+    const ret = arg0;
+    return ret;
+};
+
+export function __wbg_robotsubscription_new(arg0) {
+    const ret = RobotSubscription.__wrap(arg0);
+    return ret;
 };
 
 export function __wbindgen_string_new(arg0, arg1) {
     const ret = getStringFromWasm0(arg0, arg1);
-    return addHeapObject(ret);
+    return ret;
 };
 
-export function __wbg_robotsubscription_new(arg0) {
-    const ret = RobotSubscription.__wrap(arg0);
-    return addHeapObject(ret);
+export function __wbg_robot_new(arg0) {
+    const ret = Robot.__wrap(arg0);
+    return ret;
+};
+
+export function __wbindgen_error_new(arg0, arg1) {
+    const ret = new Error(getStringFromWasm0(arg0, arg1));
+    return ret;
 };
 
 export function __wbindgen_number_get(arg0, arg1) {
-    const obj = getObject(arg1);
+    const obj = arg1;
     const ret = typeof(obj) === 'number' ? obj : undefined;
-    getFloat64Memory0()[arg0 / 8 + 1] = isLikeNone(ret) ? 0 : ret;
-    getInt32Memory0()[arg0 / 4 + 0] = !isLikeNone(ret);
+    getDataViewMemory0().setFloat64(arg0 + 8 * 1, isLikeNone(ret) ? 0 : ret, true);
+    getDataViewMemory0().setInt32(arg0 + 4 * 0, !isLikeNone(ret), true);
 };
 
 export function __wbindgen_boolean_get(arg0) {
-    const v = getObject(arg0);
+    const v = arg0;
     const ret = typeof(v) === 'boolean' ? (v ? 1 : 0) : 2;
     return ret;
 };
 
-export function __wbindgen_error_new(arg0, arg1) {
-    const ret = new Error(getStringFromWasm0(arg0, arg1));
-    return addHeapObject(ret);
-};
-
 export function __wbindgen_cb_drop(arg0) {
-    const obj = takeObject(arg0).original;
+    const obj = arg0.original;
     if (obj.cnt-- == 1) {
         obj.a = 0;
         return true;
@@ -1446,259 +1402,261 @@ export function __wbindgen_cb_drop(arg0) {
     return ret;
 };
 
-export function __wbindgen_as_number(arg0) {
-    const ret = +getObject(arg0);
+export function __wbindgen_is_bigint(arg0) {
+    const ret = typeof(arg0) === 'bigint';
     return ret;
 };
 
-export function __wbindgen_object_clone_ref(arg0) {
-    const ret = getObject(arg0);
-    return addHeapObject(ret);
-};
-
 export function __wbindgen_is_object(arg0) {
-    const val = getObject(arg0);
+    const val = arg0;
     const ret = typeof(val) === 'object' && val !== null;
     return ret;
 };
 
-export function __wbindgen_is_bigint(arg0) {
-    const ret = typeof(getObject(arg0)) === 'bigint';
+export function __wbindgen_in(arg0, arg1) {
+    const ret = arg0 in arg1;
     return ret;
 };
 
-export function __wbindgen_bigint_from_u64(arg0) {
-    const ret = BigInt.asUintN(64, arg0);
-    return addHeapObject(ret);
+export function __wbindgen_bigint_from_i64(arg0) {
+    const ret = arg0;
+    return ret;
 };
 
 export function __wbindgen_jsval_eq(arg0, arg1) {
-    const ret = getObject(arg0) === getObject(arg1);
+    const ret = arg0 === arg1;
     return ret;
 };
 
-export function __wbindgen_in(arg0, arg1) {
-    const ret = getObject(arg0) in getObject(arg1);
+export function __wbindgen_bigint_from_u64(arg0) {
+    const ret = BigInt.asUintN(64, arg0);
     return ret;
 };
 
-export function __wbindgen_bigint_from_i64(arg0) {
-    const ret = arg0;
-    return addHeapObject(ret);
+export function __wbindgen_is_undefined(arg0) {
+    const ret = arg0 === undefined;
+    return ret;
 };
 
-export function __wbindgen_is_undefined(arg0) {
-    const ret = getObject(arg0) === undefined;
+export function __wbindgen_as_number(arg0) {
+    const ret = +arg0;
     return ret;
 };
 
 export function __wbindgen_is_string(arg0) {
-    const ret = typeof(getObject(arg0)) === 'string';
+    const ret = typeof(arg0) === 'string';
     return ret;
 };
 
-export function __wbg_wasClean_06aba8a282b21973(arg0) {
-    const ret = getObject(arg0).wasClean;
+export function __wbg_setonce_9f2ce9d61cf01425(arg0, arg1) {
+    arg0.once = arg1 !== 0;
+};
+
+export function __wbg_setcode_a0c5900000499842(arg0, arg1) {
+    arg0.code = arg1;
+};
+
+export function __wbg_setreason_7efb82dfa8a2f404(arg0, arg1, arg2) {
+    arg0.reason = getStringFromWasm0(arg1, arg2);
+};
+
+export function __wbg_wasClean_cf2135191288f963(arg0) {
+    const ret = arg0.wasClean;
     return ret;
 };
 
-export function __wbg_code_c25ac89aa8108189(arg0) {
-    const ret = getObject(arg0).code;
+export function __wbg_code_9d4413f8b44b70c2(arg0) {
+    const ret = arg0.code;
     return ret;
 };
 
-export function __wbg_reason_ab96417c470b0f79(arg0, arg1) {
-    const ret = getObject(arg1).reason;
+export function __wbg_reason_ae1d72dfda13e899(arg0, arg1) {
+    const ret = arg1.reason;
     const ptr1 = passStringToWasm0(ret, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
     const len1 = WASM_VECTOR_LEN;
-    getInt32Memory0()[arg0 / 4 + 1] = len1;
-    getInt32Memory0()[arg0 / 4 + 0] = ptr1;
+    getDataViewMemory0().setInt32(arg0 + 4 * 1, len1, true);
+    getDataViewMemory0().setInt32(arg0 + 4 * 0, ptr1, true);
 };
 
-export function __wbg_newwitheventinitdict_ff303f34f1b980fa() { return handleError(function (arg0, arg1, arg2) {
-    const ret = new CloseEvent(getStringFromWasm0(arg0, arg1), getObject(arg2));
-    return addHeapObject(ret);
+export function __wbg_newwitheventinitdict_e04d4cf36ab15962() { return handleError(function (arg0, arg1, arg2) {
+    const ret = new CloseEvent(getStringFromWasm0(arg0, arg1), arg2);
+    return ret;
 }, arguments) };
 
-export function __wbg_addEventListener_f984e99465a6a7f4() { return handleError(function (arg0, arg1, arg2, arg3) {
-    getObject(arg0).addEventListener(getStringFromWasm0(arg1, arg2), getObject(arg3));
+export function __wbg_addEventListener_4357f9b7b3826784() { return handleError(function (arg0, arg1, arg2, arg3) {
+    arg0.addEventListener(getStringFromWasm0(arg1, arg2), arg3);
 }, arguments) };
 
-export function __wbg_addEventListener_bc4a7ad4cc72c6bf() { return handleError(function (arg0, arg1, arg2, arg3, arg4) {
-    getObject(arg0).addEventListener(getStringFromWasm0(arg1, arg2), getObject(arg3), getObject(arg4));
+export function __wbg_addEventListener_0ac72681badaf1aa() { return handleError(function (arg0, arg1, arg2, arg3, arg4) {
+    arg0.addEventListener(getStringFromWasm0(arg1, arg2), arg3, arg4);
 }, arguments) };
 
-export function __wbg_dispatchEvent_1dc222127c2ec453() { return handleError(function (arg0, arg1) {
-    const ret = getObject(arg0).dispatchEvent(getObject(arg1));
+export function __wbg_dispatchEvent_d3978479884f576d() { return handleError(function (arg0, arg1) {
+    const ret = arg0.dispatchEvent(arg1);
     return ret;
 }, arguments) };
 
-export function __wbg_removeEventListener_acfc154b998d806b() { return handleError(function (arg0, arg1, arg2, arg3) {
-    getObject(arg0).removeEventListener(getStringFromWasm0(arg1, arg2), getObject(arg3));
+export function __wbg_removeEventListener_4c13d11156153514() { return handleError(function (arg0, arg1, arg2, arg3) {
+    arg0.removeEventListener(getStringFromWasm0(arg1, arg2), arg3);
 }, arguments) };
 
-export function __wbg_data_bbdd2d77ab2f7e78(arg0) {
-    const ret = getObject(arg0).data;
-    return addHeapObject(ret);
+export function __wbg_data_134d3a704b9fca32(arg0) {
+    const ret = arg0.data;
+    return ret;
 };
 
-export function __wbg_readyState_2599ffe07703eeea(arg0) {
-    const ret = getObject(arg0).readyState;
+export function __wbg_readyState_bc0231e8c43b0907(arg0) {
+    const ret = arg0.readyState;
     return ret;
 };
 
-export function __wbg_setbinaryType_bfaa2b91f5e49737(arg0, arg1) {
-    getObject(arg0).binaryType = takeObject(arg1);
+export function __wbg_setbinaryType_2befea8ba88b61e2(arg0, arg1) {
+    arg0.binaryType = __wbindgen_enum_BinaryType[arg1];
 };
 
-export function __wbg_new_d3ba66fcfe3ebcc6() { return handleError(function (arg0, arg1) {
+export function __wbg_new_d550f7a7120dd942() { return handleError(function (arg0, arg1) {
     const ret = new WebSocket(getStringFromWasm0(arg0, arg1));
-    return addHeapObject(ret);
+    return ret;
 }, arguments) };
 
-export function __wbg_close_85838c8d50b026da() { return handleError(function (arg0) {
-    getObject(arg0).close();
+export function __wbg_close_9e3b743c528a8d31() { return handleError(function (arg0) {
+    arg0.close();
 }, arguments) };
 
-export function __wbg_send_115b7e92eb793bd9() { return handleError(function (arg0, arg1, arg2) {
-    getObject(arg0).send(getStringFromWasm0(arg1, arg2));
+export function __wbg_send_f308b110e144e90d() { return handleError(function (arg0, arg1, arg2) {
+    arg0.send(getStringFromWasm0(arg1, arg2));
 }, arguments) };
 
-export function __wbg_send_8e8f1c88be375fc1() { return handleError(function (arg0, arg1, arg2) {
-    getObject(arg0).send(getArrayU8FromWasm0(arg1, arg2));
+export function __wbg_send_fe006eb24f5e2694() { return handleError(function (arg0, arg1, arg2) {
+    arg0.send(getArrayU8FromWasm0(arg1, arg2));
 }, arguments) };
 
-export function __wbg_queueMicrotask_f82fc5d1e8f816ae(arg0) {
-    const ret = getObject(arg0).queueMicrotask;
-    return addHeapObject(ret);
+export function __wbg_queueMicrotask_848aa4969108a57e(arg0) {
+    const ret = arg0.queueMicrotask;
+    return ret;
 };
 
 export function __wbindgen_is_function(arg0) {
-    const ret = typeof(getObject(arg0)) === 'function';
+    const ret = typeof(arg0) === 'function';
     return ret;
 };
 
-export function __wbg_queueMicrotask_f61ee94ee663068b(arg0) {
-    queueMicrotask(getObject(arg0));
-};
+export const __wbg_queueMicrotask_c5419c06eab41e73 = typeof queueMicrotask == 'function' ? queueMicrotask : notDefined('queueMicrotask');
 
-export function __wbg_clearTimeout_76877dbc010e786d(arg0) {
-    const ret = clearTimeout(takeObject(arg0));
-    return addHeapObject(ret);
-};
+export const __wbg_clearTimeout_76877dbc010e786d = typeof clearTimeout == 'function' ? clearTimeout : notDefined('clearTimeout');
 
 export function __wbg_setTimeout_75cb9b6991a4031d() { return handleError(function (arg0, arg1) {
-    const ret = setTimeout(getObject(arg0), arg1);
-    return addHeapObject(ret);
+    const ret = setTimeout(arg0, arg1);
+    return ret;
 }, arguments) };
 
 export function __wbindgen_jsval_loose_eq(arg0, arg1) {
-    const ret = getObject(arg0) == getObject(arg1);
+    const ret = arg0 == arg1;
     return ret;
 };
 
 export function __wbg_getwithrefkey_edc2c8960f0f1191(arg0, arg1) {
-    const ret = getObject(arg0)[getObject(arg1)];
-    return addHeapObject(ret);
+    const ret = arg0[arg1];
+    return ret;
 };
 
 export function __wbg_set_f975102236d3c502(arg0, arg1, arg2) {
-    getObject(arg0)[takeObject(arg1)] = takeObject(arg2);
+    arg0[arg1] = arg2;
 };
 
-export function __wbg_get_0ee8ea3c7c984c45(arg0, arg1) {
-    const ret = getObject(arg0)[arg1 >>> 0];
-    return addHeapObject(ret);
+export function __wbg_get_5419cf6b954aa11d(arg0, arg1) {
+    const ret = arg0[arg1 >>> 0];
+    return ret;
 };
 
-export function __wbg_length_161c0d89c6535c1d(arg0) {
-    const ret = getObject(arg0).length;
+export function __wbg_length_f217bbbf7e8e4df4(arg0) {
+    const ret = arg0.length;
     return ret;
 };
 
-export function __wbg_new_75208e29bddfd88c() {
+export function __wbg_new_034f913e7636e987() {
     const ret = new Array();
-    return addHeapObject(ret);
+    return ret;
 };
 
-export function __wbg_newnoargs_cfecb3965268594c(arg0, arg1) {
+export function __wbg_newnoargs_1ede4bf2ebbaaf43(arg0, arg1) {
     const ret = new Function(getStringFromWasm0(arg0, arg1));
-    return addHeapObject(ret);
+    return ret;
 };
 
-export function __wbg_next_586204376d2ed373(arg0) {
-    const ret = getObject(arg0).next;
-    return addHeapObject(ret);
+export function __wbg_next_13b477da1eaa3897(arg0) {
+    const ret = arg0.next;
+    return ret;
 };
 
-export function __wbg_next_b2d3366343a208b3() { return handleError(function (arg0) {
-    const ret = getObject(arg0).next();
-    return addHeapObject(ret);
+export function __wbg_next_b06e115d1b01e10b() { return handleError(function (arg0) {
+    const ret = arg0.next();
+    return ret;
 }, arguments) };
 
-export function __wbg_done_90b14d6f6eacc42f(arg0) {
-    const ret = getObject(arg0).done;
+export function __wbg_done_983b5ffcaec8c583(arg0) {
+    const ret = arg0.done;
     return ret;
 };
 
-export function __wbg_value_3158be908c80a75e(arg0) {
-    const ret = getObject(arg0).value;
-    return addHeapObject(ret);
+export function __wbg_value_2ab8a198c834c26a(arg0) {
+    const ret = arg0.value;
+    return ret;
 };
 
-export function __wbg_iterator_40027cdd598da26b() {
+export function __wbg_iterator_695d699a44d6234c() {
     const ret = Symbol.iterator;
-    return addHeapObject(ret);
+    return ret;
 };
 
-export function __wbg_get_3fddfed2c83f434c() { return handleError(function (arg0, arg1) {
-    const ret = Reflect.get(getObject(arg0), getObject(arg1));
-    return addHeapObject(ret);
+export function __wbg_get_ef828680c64da212() { return handleError(function (arg0, arg1) {
+    const ret = Reflect.get(arg0, arg1);
+    return ret;
 }, arguments) };
 
-export function __wbg_call_3f093dd26d5569f8() { return handleError(function (arg0, arg1) {
-    const ret = getObject(arg0).call(getObject(arg1));
-    return addHeapObject(ret);
+export function __wbg_call_a9ef466721e824f2() { return handleError(function (arg0, arg1) {
+    const ret = arg0.call(arg1);
+    return ret;
 }, arguments) };
 
-export function __wbg_new_632630b5cec17f21() {
+export function __wbg_new_e69b5f66fda8f13c() {
     const ret = new Object();
-    return addHeapObject(ret);
+    return ret;
 };
 
-export function __wbg_self_05040bd9523805b9() { return handleError(function () {
+export function __wbg_self_bf91bf94d9e04084() { return handleError(function () {
     const ret = self.self;
-    return addHeapObject(ret);
+    return ret;
 }, arguments) };
 
-export function __wbg_window_adc720039f2cb14f() { return handleError(function () {
+export function __wbg_window_52dd9f07d03fd5f8() { return handleError(function () {
     const ret = window.window;
-    return addHeapObject(ret);
+    return ret;
 }, arguments) };
 
-export function __wbg_globalThis_622105db80c1457d() { return handleError(function () {
+export function __wbg_globalThis_05c129bf37fcf1be() { return handleError(function () {
     const ret = globalThis.globalThis;
-    return addHeapObject(ret);
+    return ret;
 }, arguments) };
 
-export function __wbg_global_f56b013ed9bcf359() { return handleError(function () {
+export function __wbg_global_3eca19bb09e9c484() { return handleError(function () {
     const ret = global.global;
-    return addHeapObject(ret);
+    return ret;
 }, arguments) };
 
-export function __wbg_set_79c308ecd9a1d091(arg0, arg1, arg2) {
-    getObject(arg0)[arg1 >>> 0] = takeObject(arg2);
+export function __wbg_set_425e70f7c64ac962(arg0, arg1, arg2) {
+    arg0[arg1 >>> 0] = arg2;
 };
 
-export function __wbg_isArray_e783c41d0dd19b44(arg0) {
-    const ret = Array.isArray(getObject(arg0));
+export function __wbg_isArray_6f3b47f09adb61b5(arg0) {
+    const ret = Array.isArray(arg0);
     return ret;
 };
 
-export function __wbg_instanceof_ArrayBuffer_9221fa854ffb71b5(arg0) {
+export function __wbg_instanceof_ArrayBuffer_74945570b4a62ec7(arg0) {
     let result;
     try {
-        result = getObject(arg0) instanceof ArrayBuffer;
+        result = arg0 instanceof ArrayBuffer;
     } catch (_) {
         result = false;
     }
@@ -1706,10 +1664,10 @@ export function __wbg_instanceof_ArrayBuffer_9221fa854ffb71b5(arg0) {
     return ret;
 };
 
-export function __wbg_instanceof_Error_5869c4f17aac9eb2(arg0) {
+export function __wbg_instanceof_Error_a0af335a62107964(arg0) {
     let result;
     try {
-        result = getObject(arg0) instanceof Error;
+        result = arg0 instanceof Error;
     } catch (_) {
         result = false;
     }
@@ -1717,30 +1675,30 @@ export function __wbg_instanceof_Error_5869c4f17aac9eb2(arg0) {
     return ret;
 };
 
-export function __wbg_message_2a19bb5b62cf8e22(arg0) {
-    const ret = getObject(arg0).message;
-    return addHeapObject(ret);
+export function __wbg_message_00eebca8fa4dd7db(arg0) {
+    const ret = arg0.message;
+    return ret;
 };
 
-export function __wbg_name_405bb0aa047a1bf5(arg0) {
-    const ret = getObject(arg0).name;
-    return addHeapObject(ret);
+export function __wbg_name_aa32a0ae51232604(arg0) {
+    const ret = arg0.name;
+    return ret;
 };
 
-export function __wbg_toString_07f01913ec9af122(arg0) {
-    const ret = getObject(arg0).toString();
-    return addHeapObject(ret);
+export function __wbg_toString_4b677455b9167e31(arg0) {
+    const ret = arg0.toString();
+    return ret;
 };
 
-export function __wbg_call_67f2111acd2dfdb6() { return handleError(function (arg0, arg1, arg2) {
-    const ret = getObject(arg0).call(getObject(arg1), getObject(arg2));
-    return addHeapObject(ret);
+export function __wbg_call_3bfa248576352471() { return handleError(function (arg0, arg1, arg2) {
+    const ret = arg0.call(arg1, arg2);
+    return ret;
 }, arguments) };
 
-export function __wbg_instanceof_Map_879295fe38a28640(arg0) {
+export function __wbg_instanceof_Map_f96986929e7e89ed(arg0) {
     let result;
     try {
-        result = getObject(arg0) instanceof Map;
+        result = arg0 instanceof Map;
     } catch (_) {
         result = false;
     }
@@ -1748,68 +1706,68 @@ export function __wbg_instanceof_Map_879295fe38a28640(arg0) {
     return ret;
 };
 
-export function __wbg_isSafeInteger_a23a66ee7c41b273(arg0) {
-    const ret = Number.isSafeInteger(getObject(arg0));
+export function __wbg_isSafeInteger_b9dff570f01a9100(arg0) {
+    const ret = Number.isSafeInteger(arg0);
     return ret;
 };
 
-export function __wbg_entries_488960b196cfb6a5(arg0) {
-    const ret = Object.entries(getObject(arg0));
-    return addHeapObject(ret);
+export function __wbg_entries_c02034de337d3ee2(arg0) {
+    const ret = Object.entries(arg0);
+    return ret;
 };
 
-export function __wbg_new_70828a4353259d4b(arg0, arg1) {
+export function __wbg_new_1073970097e5a420(arg0, arg1) {
     try {
         var state0 = {a: arg0, b: arg1};
         var cb0 = (arg0, arg1) => {
             const a = state0.a;
             state0.a = 0;
             try {
-                return __wbg_adapter_259(a, state0.b, arg0, arg1);
+                return __wbg_adapter_268(a, state0.b, arg0, arg1);
             } finally {
                 state0.a = a;
             }
         };
         const ret = new Promise(cb0);
-        return addHeapObject(ret);
+        return ret;
     } finally {
         state0.a = state0.b = 0;
     }
 };
 
-export function __wbg_resolve_5da6faf2c96fd1d5(arg0) {
-    const ret = Promise.resolve(getObject(arg0));
-    return addHeapObject(ret);
+export function __wbg_resolve_0aad7c1484731c99(arg0) {
+    const ret = Promise.resolve(arg0);
+    return ret;
 };
 
-export function __wbg_then_f9e58f5a50f43eae(arg0, arg1) {
-    const ret = getObject(arg0).then(getObject(arg1));
-    return addHeapObject(ret);
+export function __wbg_then_748f75edfb032440(arg0, arg1) {
+    const ret = arg0.then(arg1);
+    return ret;
 };
 
-export function __wbg_buffer_b914fb8b50ebbc3e(arg0) {
-    const ret = getObject(arg0).buffer;
-    return addHeapObject(ret);
+export function __wbg_buffer_ccaed51a635d8a2d(arg0) {
+    const ret = arg0.buffer;
+    return ret;
 };
 
-export function __wbg_new_b1f2d6842d615181(arg0) {
-    const ret = new Uint8Array(getObject(arg0));
-    return addHeapObject(ret);
+export function __wbg_new_fec2611eb9180f95(arg0) {
+    const ret = new Uint8Array(arg0);
+    return ret;
 };
 
-export function __wbg_set_7d988c98e6ced92d(arg0, arg1, arg2) {
-    getObject(arg0).set(getObject(arg1), arg2 >>> 0);
+export function __wbg_set_ec2fcf81bc573fd9(arg0, arg1, arg2) {
+    arg0.set(arg1, arg2 >>> 0);
 };
 
-export function __wbg_length_21c4b0ae73cba59d(arg0) {
-    const ret = getObject(arg0).length;
+export function __wbg_length_9254c4bd3b9f23c4(arg0) {
+    const ret = arg0.length;
     return ret;
 };
 
-export function __wbg_instanceof_Uint8Array_c299a4ee232e76ba(arg0) {
+export function __wbg_instanceof_Uint8Array_df0761410414ef36(arg0) {
     let result;
     try {
-        result = getObject(arg0) instanceof Uint8Array;
+        result = arg0 instanceof Uint8Array;
     } catch (_) {
         result = false;
     }
@@ -1817,24 +1775,19 @@ export function __wbg_instanceof_Uint8Array_c299a4ee232e76ba(arg0) {
     return ret;
 };
 
-export function __wbg_set_961700853a212a39() { return handleError(function (arg0, arg1, arg2) {
-    const ret = Reflect.set(getObject(arg0), getObject(arg1), getObject(arg2));
-    return ret;
-}, arguments) };
-
 export function __wbindgen_bigint_get_as_i64(arg0, arg1) {
-    const v = getObject(arg1);
+    const v = arg1;
     const ret = typeof(v) === 'bigint' ? v : undefined;
-    getBigInt64Memory0()[arg0 / 8 + 1] = isLikeNone(ret) ? BigInt(0) : ret;
-    getInt32Memory0()[arg0 / 4 + 0] = !isLikeNone(ret);
+    getDataViewMemory0().setBigInt64(arg0 + 8 * 1, isLikeNone(ret) ? BigInt(0) : ret, true);
+    getDataViewMemory0().setInt32(arg0 + 4 * 0, !isLikeNone(ret), true);
 };
 
 export function __wbindgen_debug_string(arg0, arg1) {
-    const ret = debugString(getObject(arg1));
+    const ret = debugString(arg1);
     const ptr1 = passStringToWasm0(ret, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
     const len1 = WASM_VECTOR_LEN;
-    getInt32Memory0()[arg0 / 4 + 1] = len1;
-    getInt32Memory0()[arg0 / 4 + 0] = ptr1;
+    getDataViewMemory0().setInt32(arg0 + 4 * 1, len1, true);
+    getDataViewMemory0().setInt32(arg0 + 4 * 0, ptr1, true);
 };
 
 export function __wbindgen_throw(arg0, arg1) {
@@ -1843,36 +1796,47 @@ export function __wbindgen_throw(arg0, arg1) {
 
 export function __wbindgen_memory() {
     const ret = wasm.memory;
-    return addHeapObject(ret);
+    return ret;
 };
 
-export function __wbindgen_closure_wrapper1869(arg0, arg1, arg2) {
-    const ret = makeMutClosure(arg0, arg1, 764, __wbg_adapter_50);
-    return addHeapObject(ret);
+export function __wbindgen_closure_wrapper1831(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 716, __wbg_adapter_52);
+    return ret;
+};
+
+export function __wbindgen_closure_wrapper1833(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 716, __wbg_adapter_52);
+    return ret;
 };
 
-export function __wbindgen_closure_wrapper1871(arg0, arg1, arg2) {
-    const ret = makeMutClosure(arg0, arg1, 764, __wbg_adapter_53);
-    return addHeapObject(ret);
+export function __wbindgen_closure_wrapper1835(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 716, __wbg_adapter_52);
+    return ret;
 };
 
-export function __wbindgen_closure_wrapper1873(arg0, arg1, arg2) {
-    const ret = makeMutClosure(arg0, arg1, 764, __wbg_adapter_50);
-    return addHeapObject(ret);
+export function __wbindgen_closure_wrapper1837(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 716, __wbg_adapter_59);
+    return ret;
 };
 
-export function __wbindgen_closure_wrapper1875(arg0, arg1, arg2) {
-    const ret = makeMutClosure(arg0, arg1, 764, __wbg_adapter_50);
-    return addHeapObject(ret);
+export function __wbindgen_closure_wrapper2497(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 798, __wbg_adapter_62);
+    return ret;
 };
 
-export function __wbindgen_closure_wrapper2525(arg0, arg1, arg2) {
-    const ret = makeMutClosure(arg0, arg1, 840, __wbg_adapter_60);
-    return addHeapObject(ret);
+export function __wbindgen_closure_wrapper2528(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 814, __wbg_adapter_65);
+    return ret;
 };
 
-export function __wbindgen_closure_wrapper2566(arg0, arg1, arg2) {
-    const ret = makeMutClosure(arg0, arg1, 855, __wbg_adapter_63);
-    return addHeapObject(ret);
+export function __wbindgen_init_externref_table() {
+    const table = wasm.__wbindgen_export_2;
+    const offset = table.grow(4);
+    table.set(0, undefined);
+    table.set(offset + 0, undefined);
+    table.set(offset + 1, null);
+    table.set(offset + 2, true);
+    table.set(offset + 3, false);
+    ;
 };