signalk-livedepth-plugin 0.2.1 → 0.3.2

package/CHANGELOG.md

@@ -0,0 +1,113 @@
+# Changelog
+
+All notable changes to this project are documented here, newest first. The
+format follows [Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and
+versions follow [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [0.3.2] - 2026-10-19
+
+### Added
+
+- Depth from **other vessels**. The plugin now records any vessel on the server
+  that publishes a depth on the selected datum, so a tender or a second
+  sounder-equipped vessel (for example a dinghy) is folded into the bathymetry
+  automatically. AIS targets — which have a position but no depth — are ignored.
+  The transducer correction describes this vessel's hull, so it is applied to
+  this vessel's soundings only. `vessels.include` / `vessels.exclude` narrow the
+  set if needed.
+- A **Render quality** setting: Auto, or High / Balanced / Low. It scales only
+  the shaded depth surface; soundings, circles and labels always render at full
+  resolution. Auto adapts the surface to the GPU, and a frame-rate readout is
+  logged to the console.
+- A temporary `debug.vesselFootprint` option draws the vessel's LOA × beam on
+  the chart layer, for checking where a sounding lands relative to the hull.
+
+### Fixed
+
+- A transducer forward of midships is placed ahead of the reference, not behind
+  it. The offset sign was inverted, which drew every sounding astern.
+- The chart layer accepts the host's object-shaped `navigation.position`
+  (`{ latitude, longitude }`), so live soundings are no longer silently dropped.
+- Panning or zooming re-fetches the tiles for the new view; previously the layer
+  kept drawing the previous view's tile set.
+- A vessel that goes quiet keeps its subscription, so the deltas it replays on
+  reconnect are recorded rather than lost. A GPS-only vessel with no compass
+  falls back to course over ground for its heading.
+
+### Changed
+
+- The chart layer renders at the display's pixel ratio instead of oversampling
+  at 2×, caches the per-frame cluster aggregation, and patches the depth field
+  incrementally on a live flush instead of rebuilding the grid. This cuts the
+  browser's CPU/GPU cost substantially, especially on a lower-powered GPU.
+
+## [0.3.1] - 2026-10-16
+
+### Fixed
+
+- The chart layer no longer lags the vessel by 2–3 seconds. Live soundings were
+  batched for two seconds, and each batch re-fetched every tile for the view
+  over HTTP; they now fold into the frame every 300 ms without a network round
+  trip, so the surface fills in under the bow.
+
+## [0.3.0] - 2026-10-15
+
+The LiveDepth chart layer, and the merge that brings everything into one
+package. The chart layer needs a host that implements `overlays.image` —
+Freeboard-SK **3.4.0-beta.0 or later**.
+
+### Added
+
+- The **LiveDepth chart layer**: an image map overlay offered to
+  plotter-extensions chartplotters (Freeboard-SK 3.4.0-beta.0 or later), drawn
+  by a headless background runtime that shades the depth surface, draws isobaths
+  and
+  labels the shoals. It appears in the chartplotter's Chart list with show/hide
+  and opacity controls, and its settings open from the layer's row or the
+  LiveDepth toolbar button.
+
+### Changed
+
+- The shared tile algorithm (`signalk-livedepth-tiles`) is folded into this
+  package under `src/tiles/core/`; that published package is no longer a
+  dependency.
+- Bathymetry data is served from the extension's own top-level path
+  (`/plotterext/signalk-livedepth-plugin/bathymetry/…`) so a read-only user's
+  chartplotter can reach it; the one-time history rebuild stays an admin route.
+
+### Fixed
+
+- The config schema no longer emits a `default: undefined`, which the server
+  dropped when storing the schema as JSON.
+- Switching the depth source now takes effect: the live Signal K subscription
+  starts and stops with the source.
+- The settings panel greys the history-only fields while the depth source is the
+  plugin's tiles, and shows depth values in the user's preferred unit.
+
+## [0.2.1] - 2026-10-14
+
+### Fixed
+
+- Serve tiles as raw bytes, not JSON — express was JSON-encoding the `Uint8Array`
+  `encodeTile` returns, so a client decoded the JSON text as sparse records.
+- Read the vessel length overall from `design.length`, so transducer correction
+  no longer reports it missing on servers that have it.
+
+## [0.2.0] - 2026-10-14
+
+### Added
+
+- Transducer position correction.
+
+### Changed
+
+- Trimmed the configuration to the depth path, the transducer's position, the
+  correction mode and the one-time history rebuild.
+
+## [0.1.0] - 2026-10-13
+
+### Added
+
+- First release: build a gridded bathymetry tile store from the vessel's own
+  position and depth, serve it to a chart client, and seed it from the server's
+  History API.

package/README.md

@@ -1,54 +1,80 @@
-# signalk-livedepth-plugin
+# LiveDepth
 
-A Signal K server plugin that builds a **gridded bathymetry tile store** from the
-vessel's own position and depth, and serves it to a chart client's LiveDepth
-layer. It is the server side of Freeboard-SK's LiveDepth layer.
+**LiveDepth builds and visualises a depth map from your own soundings, in real
+time, as your vessel moves.** Everywhere you go, your depth sounder's readings
+are turned into bathymetric data you can see on the chart — so the ground you've
+already covered is there to look at the next time you're in the area.
 
 ## What it does
 
-- Subscribes to the vessel's own `environment.depth.*` and `navigation.position`,
-  and folds each sounding into a Web-Mercator XYZ tile store: 256-cell tiles,
-  base level `z20` (≈0.15 m per cell), min-pooled down to `z4` (≈2.4 km per
-  cell). A tile is stored sparsely — only the cells a sounding fell in — as a
-  5-byte record (`cx, cy, depthCm, count`) keeping the shallowest depth, so
-  zooming out never deepens a shoal. The tile algorithm itself lives in
-  [`signalk-livedepth-tiles`](https://www.npmjs.com/package/signalk-livedepth-tiles),
-  shared with the chart client so both build identical tiles.
-- Serves the tiles over HTTP so a chart client can draw a depth surface for the
-  area without replaying the raw track or interpolating at query time.
-- Can seed the store from the server's History API at the finest granularity it
-  offers — a one-time, resumable rebuild for a store that already has a track.
-
-## Routes
-
-Mounted by the server at `/plugins/signalk-livedepth-plugin`:
-
-| Route                            | Returns                                                                                |
-| -------------------------------- | -------------------------------------------------------------------------------------- |
-| `GET /bathymetry/meta`           | grid spec (base/min zoom, tile size, record size) and the depth path/offsets to mirror |
-| `GET /bathymetry/tiles/:z/:x/:y` | the sparse tile blob (`application/octet-stream`), or `404`                            |
-| `GET /bathymetry/seed`           | admin only: status of the one-time history rebuild                                     |
-| `POST /bathymetry/seed`          | admin only: start the one-time history rebuild (`202`)                                 |
-
-A client seeds its view from the tiles, then keeps its own copy current from the
-same Signal K stream.
-
-## Configuration
-
-- **Path** — the `environment.depth.*` path to record.
-- **Depth Sounder / GPS Receiver** — the sensor offsets, and the source to pin
-  each path to (so soundings from a second GPS don't smear the track).
-- **Rebuild from History** — a one-shot rebuild from the server's History API;
-  it fires once when saved and clears itself when it finishes.
+- **Records as you go.** Each depth reading is placed where your vessel was when
+  it was taken, building a picture of the seabed along your track. No surveying
+  needed — just your normal boating.
+- **Draws it on the chart.** A compatible chartplotter (Freeboard-SK) shows the
+  depth as a shaded surface with depth-contour lines, so you can see the shape of
+  the ground and where it shallows.
+- **Never hides a shoal.** Where readings overlap, the shallowest one wins, so
+  zooming out can't bury a shallow patch under the deeper water around it.
+- **Live or accumulated.** Show your own recent track, or the depth map the
+  server has built up over time — extended live as you move.
+- **Rebuild from history.** Already have a track recorded on the server? A
+  one-time rebuild fills the map in from it.
+
+## What you need
+
+- A Signal K server with your depth sounder and GPS feeding it.
+- A chartplotter that supports plotter extensions — **Freeboard-SK
+  3.4.0-beta.0 or later**, or another host that supports the `overlays.image`
+  capability.
+- The plugin enabled on the server (install it from the App Store, then switch it
+  on in the server's plugin settings).
+
+## Using it
+
+Once enabled, **Live depth** appears in the chartplotter's Chart list, under
+_Plugin layers_, with its own show/hide and opacity controls — saved just like a
+chart's. Open **Layer settings** on its row (or the LiveDepth toolbar button) to
+choose what it shows:
+
+- **Show the layer** — on or off.
+- **Depth source** — your own recent track, or the accumulated depth map.
+- **Shade limit** — the depth the shading runs to; deeper water is left to the
+  chart.
+- **Isobath interval** — how far apart the depth-contour lines are.
+- **Grid cell**, **Merge band** — how readings are grouped into the dots on the
+  chart.
+- **Max depth**, **Safety depth** — which readings are drawn, and which shallow
+  ones are marked individually.
+
+Depth values are shown in your preferred units.
+
+## Server settings
+
+- **Path** — which depth measurement to record (below surface, transducer or
+  keel).
+- **Depth transducer** — where the sounder sits on the hull, so each reading is
+  placed at it rather than at the position the server reports.
+- **Transducer position correction** — shift readings from the vessel's
+  reference point to the transducer (needs the server's own GNSS correction on).
+- **Rebuild from history** — a one-time rebuild of the depth map from the track
+  the server already has.
+
+## How it works
+
+The plugin runs on your Signal K server and turns each sounding into a
+Web-Mercator depth map, keeping the shallowest reading for every spot. A
+chartplotter that supports plotter extensions draws it as a map layer, rendering
+in the browser. The plugin offers the layer to the chartplotter automatically —
+there's nothing to configure on the chart side.
 
 ## Development
 
 ```bash
 npm install
-npm run build     # tsc -b  ->  dist/
-npm test          # vitest
+npm run build   # server code (dist/) + the chart-layer pages (public/)
+npm test        # vitest
 npm run format
 npm run lint
 ```
 
-Node `>=22.5` (the store uses the built-in `node:sqlite`).
+Node `>=22.5`.

package/dist/collector.d.ts

@@ -1,6 +1,6 @@
 import { Writable } from "stream";
 import { ServerAPI } from "@signalk/server-api";
-import { TransducerOffset } from "signalk-livedepth-tiles";
+import { TransducerOffset } from "./tiles/core/index.js";
 import { Config } from "./config.js";
 export interface CollectorOptions {
     app: ServerAPI;

package/dist/collector.d.ts.map

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package/dist/config.d.ts

@@ -13,10 +13,23 @@ export type Config = {
     /** Shift soundings from the vessel reference point the server reports to the
      * transducer. `off` leaves them where the server put them. */
     transducerCorrection: "off" | "replace";
+    /** Which vessels to record soundings from. By default every vessel that
+     * publishes a depth on the selected datum is recorded — a tender or a second
+     * sounder-equipped vessel is picked up automatically, while AIS targets
+     * (position but no depth) are ignored. `include`/`exclude` narrow that set. */
+    vessels?: {
+        include?: string[];
+        exclude?: string[];
+    };
     seed?: {
         run?: boolean;
         resolution?: number;
     };
+    /** Temporary diagnostics, removed once the geometry is verified. */
+    debug?: {
+        /** Draw the vessel's footprint (LOA × beam) in the chart layer. */
+        vesselFootprint?: boolean;
+    };
 };
 export declare const DepthPaths: readonly ["belowSurface", "belowTransducer", "belowKeel"];
 export declare function schema(app: ServerAPI): {
@@ -29,7 +42,7 @@ export declare function schema(app: ServerAPI): {
             description: string;
             enum: readonly ["belowSurface", "belowTransducer", "belowKeel"];
             enumNames: string[];
-            default: "belowKeel" | "belowSurface" | "belowTransducer" | undefined;
+            default?: "belowKeel" | "belowSurface" | "belowTransducer" | undefined;
         };
         sounder: {
             type: string;
@@ -41,13 +54,13 @@ export declare function schema(app: ServerAPI): {
                     type: string;
                     title: string;
                     minimum: number;
-                    default: unknown;
+                    default?: {} | null | undefined;
                 };
                 x: {
                     type: string;
                     title: string;
                     description: string;
-                    default: unknown;
+                    default?: {} | null | undefined;
                 };
             };
         };
@@ -59,6 +72,29 @@ export declare function schema(app: ServerAPI): {
             enumNames: string[];
             default: string;
         };
+        vessels: {
+            type: string;
+            title: string;
+            description: string;
+            properties: {
+                include: {
+                    type: string;
+                    title: string;
+                    description: string;
+                    items: {
+                        type: string;
+                    };
+                };
+                exclude: {
+                    type: string;
+                    title: string;
+                    description: string;
+                    items: {
+                        type: string;
+                    };
+                };
+            };
+        };
         seed: {
             type: string;
             title: string;
@@ -78,6 +114,19 @@ export declare function schema(app: ServerAPI): {
                 };
             };
         };
+        debug: {
+            type: string;
+            title: string;
+            description: string;
+            properties: {
+                vesselFootprint: {
+                    type: string;
+                    default: boolean;
+                    title: string;
+                    description: string;
+                };
+            };
+        };
     };
 };
 //# sourceMappingURL=config.d.ts.map

package/dist/config.d.ts.map

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package/dist/config.js

@@ -5,9 +5,14 @@ export const DepthPaths = [
 ];
 export function schema(app) {
     const defaultPath = DepthPaths.find((path) => app.getSelfPath(`environment.depth.${path}.value`));
+    // A `default` is attached only when present: `default: undefined` survives in
+    // the object but is dropped when the server stores the schema as JSON, which
+    // its plugin schema check flags as data loss.
+    const fromBow = app.getSelfPath("sensors.depth.fromBow.value");
+    const fromCenter = app.getSelfPath("sensors.depth.fromCenter.value");
     return {
         type: "object",
-        description: "Build a gridded bathymetry tile store from the vessel's own position and depth, and serve it to a chart client's LiveDepth layer.",
+        description: "Build a gridded bathymetry tile store from vessel soundings — your own and any other depth-equipped vessel on the server — and serve it to a chart client's LiveDepth layer.",
         properties: {
             path: {
                 type: "string",
@@ -19,7 +24,7 @@ export function schema(app) {
                     "Depth below transducer",
                     "Depth below keel",
                 ],
-                default: defaultPath,
+                ...(defaultPath === undefined ? {} : { default: defaultPath }),
             },
             sounder: {
                 type: "object",
@@ -31,13 +36,13 @@ export function schema(app) {
                         type: "number",
                         title: "Distance of the transducer from the bow (meters)",
                         minimum: 0,
-                        default: app.getSelfPath("sensors.depth.fromBow.value"),
+                        ...(fromBow === undefined ? {} : { default: fromBow }),
                     },
                     x: {
                         type: "number",
                         title: "Distance of the transducer from the center (meters)",
                         description: "+ve to starboard, -ve to port",
-                        default: app.getSelfPath("sensors.depth.fromCenter.value"),
+                        ...(fromCenter === undefined ? {} : { default: fromCenter }),
                     },
                 },
             },
@@ -49,6 +54,25 @@ export function schema(app) {
                 enumNames: ["Off", "Replace with the transducer's position"],
                 default: "off",
             },
+            vessels: {
+                type: "object",
+                title: "Vessels",
+                description: "Which vessel contexts to record. By default every vessel that publishes a depth on the selected datum is recorded — a tender or a second depth-equipped vessel is picked up automatically, while AIS targets (position but no depth) are ignored. Use these lists to narrow that set.",
+                properties: {
+                    include: {
+                        type: "array",
+                        title: "Only these vessels",
+                        description: "Record only these Signal K contexts, e.g. vessels.urn:mrn:signalk:uuid:…. Empty records every vessel that publishes a depth.",
+                        items: { type: "string" },
+                    },
+                    exclude: {
+                        type: "array",
+                        title: "Never these vessels",
+                        description: "Contexts to ignore even when they publish a depth.",
+                        items: { type: "string" },
+                    },
+                },
+            },
             seed: {
                 type: "object",
                 title: "Rebuild from History",
@@ -68,6 +92,19 @@ export function schema(app) {
                     },
                 },
             },
+            debug: {
+                type: "object",
+                title: "Debug",
+                description: "Temporary diagnostics, not for general use — they will be removed.",
+                properties: {
+                    vesselFootprint: {
+                        type: "boolean",
+                        default: false,
+                        title: "Draw the vessel footprint",
+                        description: "Draw the vessel's footprint (design.length.overall × design.beam) on the chart layer, centred on navigation.position and rotated to the heading. Useful for checking where soundings land relative to the hull.",
+                    },
+                },
+            },
         },
     };
 }

package/dist/config.js.map

@@ -1 +1 @@
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package/dist/plotterext/manifest.d.ts

@@ -0,0 +1,24 @@
+/** The providing plugin's id; also the plotterExtensions resource key. */
+export declare const PLUGIN_ID = "signalk-livedepth-plugin";
+/** Top-level, non-admin route the extension's pages and data are served from. */
+export declare const ASSET_BASE = "/plotterext/signalk-livedepth-plugin";
+/** The plotterExtensions manifest (see docs/api/plotter-extensions-api.md). */
+export interface PlotterExtManifest {
+    name: string;
+    description: string;
+    version: string;
+    apiVersion: string;
+    requires: string[];
+    optional: string[];
+    buttons: unknown[];
+    panels: unknown[];
+    background: unknown[];
+    overlays: unknown[];
+}
+/** Build the extension manifest offered to a host chartplotter.
+ *
+ * One `image` overlay, drawn by a headless background runtime, placed above
+ * the charts and below the vessel/resources. A `mapToolbar` button opens the
+ * settings panel, which shares state with the runtime over the bus. */
+export declare function buildManifest(version?: string): PlotterExtManifest;
+//# sourceMappingURL=manifest.d.ts.map

package/dist/plotterext/manifest.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"manifest.d.ts","sourceRoot":"","sources":["../../src/plotterext/manifest.ts"],"names":[],"mappings":"AAIA,0EAA0E;AAC1E,eAAO,MAAM,SAAS,6BAA6B,CAAC;AACpD,iFAAiF;AACjF,eAAO,MAAM,UAAU,yCAA6B,CAAC;AAErD,+EAA+E;AAC/E,MAAM,WAAW,kBAAkB;IACjC,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,OAAO,EAAE,MAAM,CAAC;IAChB,UAAU,EAAE,MAAM,CAAC;IACnB,QAAQ,EAAE,MAAM,EAAE,CAAC;IACnB,QAAQ,EAAE,MAAM,EAAE,CAAC;IACnB,OAAO,EAAE,OAAO,EAAE,CAAC;IACnB,MAAM,EAAE,OAAO,EAAE,CAAC;IAClB,UAAU,EAAE,OAAO,EAAE,CAAC;IACtB,QAAQ,EAAE,OAAO,EAAE,CAAC;CACrB;AAeD;;;;uEAIuE;AACvE,wBAAgB,aAAa,CAAC,OAAO,SAAkB,GAAG,kBAAkB,CAuD3E"}

package/dist/plotterext/manifest.js

@@ -0,0 +1,79 @@
+import { readFileSync } from "node:fs";
+import { dirname, join } from "node:path";
+import { fileURLToPath } from "node:url";
+/** The providing plugin's id; also the plotterExtensions resource key. */
+export const PLUGIN_ID = "signalk-livedepth-plugin";
+/** Top-level, non-admin route the extension's pages and data are served from. */
+export const ASSET_BASE = `/plotterext/${PLUGIN_ID}`;
+/** The plugin's own version, read from its package.json. */
+function pluginVersion() {
+    try {
+        const here = dirname(fileURLToPath(import.meta.url));
+        const pkg = JSON.parse(readFileSync(join(here, "..", "..", "package.json"), "utf8"));
+        return pkg.version ?? "0.0.0";
+    }
+    catch {
+        return "0.0.0";
+    }
+}
+/** Build the extension manifest offered to a host chartplotter.
+ *
+ * One `image` overlay, drawn by a headless background runtime, placed above
+ * the charts and below the vessel/resources. A `mapToolbar` button opens the
+ * settings panel, which shares state with the runtime over the bus. */
+export function buildManifest(version = pluginVersion()) {
+    return {
+        name: "LiveDepth",
+        description: "Draw your recorded depth as a live depth map on the chart, shaded with depth contours.",
+        version,
+        apiVersion: "1",
+        requires: ["background.iframe", "overlays.image", "signalk.stream"],
+        optional: ["buttons", "panels.iframe", "units", "map", "nightMode"],
+        buttons: [
+            {
+                id: "open-livedepth-settings",
+                title: "LiveDepth",
+                slot: "mapToolbar",
+                icon: "water",
+                action: { type: "togglePanel", panel: "livedepth-settings" },
+            },
+        ],
+        panels: [
+            {
+                id: "livedepth-settings",
+                title: "LiveDepth",
+                type: "iframe",
+                url: `${ASSET_BASE}/config.html`,
+                lifecycle: "keepAlive",
+            },
+        ],
+        background: [
+            {
+                id: "renderer",
+                type: "iframe",
+                url: `${ASSET_BASE}/renderer.html`,
+            },
+        ],
+        overlays: [
+            {
+                id: "depth",
+                title: "Live depth",
+                type: "image",
+                runtime: "renderer",
+                band: "aboveCharts",
+                visible: true,
+                opacity: 0.85,
+                minZoom: 4,
+                // The Chart list's "Layer settings" button opens this panel, so the
+                // layer's settings sit with the layer, not only behind the toolbar
+                // button.
+                configPanel: "livedepth-settings",
+                // No `preferredPixelRatio`: the host then uses the display's own device
+                // pixel ratio, which is native and sharp. Asking for 2 oversampled on a
+                // 1×/1.33× display, and that cost is paid per frame in the transfer and
+                // composite — the render-quality setting scales further if needed.
+            },
+        ],
+    };
+}
+//# sourceMappingURL=manifest.js.map

package/dist/plotterext/manifest.js.map

@@ -0,0 +1 @@
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package/dist/plotterext/provider.d.ts

@@ -0,0 +1,7 @@
+import type { ServerAPI } from "@signalk/server-api";
+/** Offer the plotter extension: register the read-only `plotterExtensions`
+ * resource and mount the extension's pages. Safe to call on every start — the
+ * provider is registered and the assets mounted once; `isRunning` reflects the
+ * plugin's current state so the extension leaves when the plugin is disabled. */
+export declare function registerPlotterExtension(app: ServerAPI, isRunning: () => boolean): void;
+//# sourceMappingURL=provider.d.ts.map

package/dist/plotterext/provider.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"provider.d.ts","sourceRoot":"","sources":["../../src/plotterext/provider.ts"],"names":[],"mappings":"AAGA,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,qBAAqB,CAAC;AAYrD;;;iFAGiF;AACjF,wBAAgB,wBAAwB,CACtC,GAAG,EAAE,SAAS,EACd,SAAS,EAAE,MAAM,OAAO,GACvB,IAAI,CAgCN"}