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make Runner event tracking more efficient

instead of an array of three-element tuples (`EventEmitter`, `event name`, `listener function`), use `Map`s and `Set`s.
`Runner#_eventListeners` is now of type `Map<EventEmitter, Map<string, Set<EventListener>>>` where `string` is an event name.
this should improve performance (in Node.js, at least).

added a (debug) warning if we try to attach the same listener multiple times to the same event in the same EE.

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