signalk-livedepth-plugin 0.2.1 → 0.3.2

package/dist/plotterext/provider.js

@@ -0,0 +1,61 @@
+import { createRequire } from "node:module";
+import { dirname, join } from "node:path";
+import { fileURLToPath } from "node:url";
+import { ASSET_BASE, PLUGIN_ID, buildManifest } from "./manifest.js";
+let registered = false;
+let mounted = false;
+/** 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 function registerPlotterExtension(app, isRunning) {
+    const a = app;
+    if (!registered) {
+        if (typeof a.registerResourceProvider === "function") {
+            a.registerResourceProvider({
+                type: "plotterExtensions",
+                methods: {
+                    listResources: async () => isRunning() ? { [PLUGIN_ID]: buildManifest() } : {},
+                    getResource: async (id) => {
+                        if (!isRunning() || id !== PLUGIN_ID) {
+                            throw new Error(`No such plotterExtensions resource: ${id}`);
+                        }
+                        return buildManifest();
+                    },
+                    setResource: async () => {
+                        throw new Error(`${PLUGIN_ID} is a read-only provider`);
+                    },
+                    deleteResource: async () => {
+                        throw new Error(`${PLUGIN_ID} is a read-only provider`);
+                    },
+                },
+            });
+            registered = true;
+            a.debug(`${PLUGIN_ID}: plotter extension offered`);
+        }
+        else {
+            a.debug(`${PLUGIN_ID}: server has no resource provider registry`);
+        }
+    }
+    mountAssets(a);
+}
+/** Serve the extension's pages as a top-level static route. Express is provided
+ * by the server, so requiring it adds no runtime dependency of our own. */
+function mountAssets(app) {
+    if (mounted || typeof app.use !== "function") {
+        return;
+    }
+    let serveStatic;
+    try {
+        serveStatic = createRequire(import.meta.url)("express").static;
+    }
+    catch {
+        app.debug(`${PLUGIN_ID}: express unavailable; cannot serve ${ASSET_BASE}`);
+        return;
+    }
+    const here = dirname(fileURLToPath(import.meta.url));
+    app.use(ASSET_BASE, serveStatic(join(here, "..", "..", "public")));
+    mounted = true;
+    app.debug(`${PLUGIN_ID}: extension assets served at ${ASSET_BASE}`);
+}
+//# sourceMappingURL=provider.js.map

package/dist/plotterext/provider.js.map

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

@@ -1,4 +1,6 @@
 import { ServerAPI, Plugin } from "@signalk/server-api";
+import { TransducerOffset } from "./tiles/core/index.js";
+import { Config } from "./config.js";
 /** The vessel's length overall, for locating the reference point the server
  * reports (the CCRP is midships).
  *
@@ -8,5 +10,18 @@ import { ServerAPI, Plugin } from "@signalk/server-api";
  * take `.value.overall` (matching how the server's own GNSS corrector reads it).
  * Handles `getSelfPath` returning either the value or its node. */
 export declare function readLengthOverall(app: ServerAPI): number | undefined;
+/** The vessel's beam, for the debug footprint overlay. `design.beam` is a leaf
+ * on most servers but read defensively in case it is a value node. */
+export declare function readVesselBeam(app: ServerAPI): number | undefined;
+/**
+ * The body-frame offset from the reference point the server reports to the
+ * transducer, or undefined when correction is off (or can't be located).
+ *
+ * The server corrects `navigation.position` to the CCRP (midships on the
+ * centreline) only when its own `gnssCorrection` is on. When it is off the
+ * position is the GNSS antenna, whose body position we do not know — so the
+ * offset is meaningless. We still apply what the user configured, but flag it.
+ */
+export declare function resolveTransducerOffset(app: ServerAPI, config: Config): TransducerOffset | undefined;
 export default function createPlugin(app: ServerAPI): Plugin;
 //# sourceMappingURL=plugin.d.ts.map

package/dist/plugin.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"plugin.d.ts","sourceRoot":"","sources":["../src/plugin.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,SAAS,EAAE,MAAM,EAAgB,MAAM,qBAAqB,CAAC;AAEtE,OAAO,EAAE,gBAAgB,EAAa,MAAM,uBAAuB,CAAC;AACpE,OAAO,EAAU,MAAM,EAAE,MAAM,aAAa,CAAC;AAa7C;;;;;;;mEAOmE;AACnE,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,SAAS,GAAG,MAAM,GAAG,SAAS,CAWpE;AAED;sEACsE;AACtE,wBAAgB,cAAc,CAAC,GAAG,EAAE,SAAS,GAAG,MAAM,GAAG,SAAS,CAOjE;AAQD;;;;;;;;GAQG;AACH,wBAAgB,uBAAuB,CACrC,GAAG,EAAE,SAAS,EACd,MAAM,EAAE,MAAM,GACb,gBAAgB,GAAG,SAAS,CA2B9B;AAED,MAAM,CAAC,OAAO,UAAU,YAAY,CAAC,GAAG,EAAE,SAAS,GAAG,MAAM,CA4H3D"}

package/dist/plugin.js

@@ -3,7 +3,8 @@ import { schema } from "./config.js";
 import { createTileDB, createTileStore } from "./tiles/store.js";
 import { createTileWriter } from "./tiles/writer.js";
 import { seedFromHistory } from "./tiles/seed.js";
-import { registerBathymetryRoutes, } from "./tiles/api.js";
+import { registerBathymetryRoutes, registerSeedRoutes, } from "./tiles/api.js";
+import { registerPlotterExtension } from "./plotterext/provider.js";
 import { createCollector } from "./collector.js";
 /** The vessel's length overall, for locating the reference point the server
  * reports (the CCRP is midships).
@@ -23,6 +24,15 @@ export function readLengthOverall(app) {
         ? overall
         : undefined;
 }
+/** The vessel's beam, for the debug footprint overlay. `design.beam` is a leaf
+ * on most servers but read defensively in case it is a value node. */
+export function readVesselBeam(app) {
+    const node = app.getSelfPath("design.beam");
+    const value = typeof node === "number" ? node : node?.value;
+    return typeof value === "number" && Number.isFinite(value) && value > 0
+        ? value
+        : undefined;
+}
 /** The server's GNSS antenna correction mode; `off` unless configured. */
 function readGnssCorrection(app) {
     // @ts-expect-error: app.config is not a public API
@@ -37,7 +47,7 @@ function readGnssCorrection(app) {
  * position is the GNSS antenna, whose body position we do not know — so the
  * offset is meaningless. We still apply what the user configured, but flag it.
  */
-function resolveTransducerOffset(app, config) {
+export function resolveTransducerOffset(app, config) {
     if (config.transducerCorrection !== "replace") {
         return undefined;
     }
@@ -55,7 +65,9 @@ function resolveTransducerOffset(app, config) {
         return undefined;
     }
     return {
-        forward: (config.sounder?.y ?? 0) - length / 2,
+        // `sounder.y` is the distance from the bow, so a transducer forward of
+        // midships sits at a smaller `y` and is a positive shift toward the bow.
+        forward: length / 2 - (config.sounder?.y ?? 0),
         starboard: config.sounder?.x ?? 0,
     };
 }
@@ -67,6 +79,8 @@ export default function createPlugin(app) {
     let config;
     let transducer;
     let seedStatus = { running: false };
+    let running = false;
+    let routesRegistered = false;
     const runSeed = async (resolution) => {
         if (seedStatus.running)
             return;
@@ -101,7 +115,7 @@ export default function createPlugin(app) {
     return {
         id: "signalk-livedepth-plugin",
         name: "LiveDepth",
-        description: "Serve a gridded bathymetry tile store built from the vessel's own position and depth, for a chart plotter's LiveDepth layer.",
+        description: "Serve a gridded bathymetry tile store built from vessel soundings — your own and any other depth-equipped vessel on the server — for a chart plotter's LiveDepth layer.",
         async start(startConfig, restart) {
             config = startConfig;
             app.debug("Starting signalk-livedepth-plugin");
@@ -116,6 +130,24 @@ export default function createPlugin(app) {
                 signal: abortController.signal,
             });
             app.setPluginStatus("Collecting depth into the bathymetry tile store");
+            running = true;
+            // Offer the chart layer to a host chartplotter, and serve the store the
+            // layer reads from a top-level, non-admin route.
+            registerPlotterExtension(app, () => running);
+            if (!routesRegistered) {
+                registerBathymetryRoutes(app, () => tileStore, () => ({
+                    depthPath: config ? `environment.depth.${config.path}` : undefined,
+                    transducer,
+                    vessel: {
+                        loa: readLengthOverall(app),
+                        beam: readVesselBeam(app),
+                    },
+                    debug: {
+                        vesselFootprint: config?.debug?.vesselFootprint === true,
+                    },
+                }));
+                routesRegistered = true;
+            }
             if (startConfig.seed?.run) {
                 // One-time rebuild. Clear the trigger when it finishes (or fails) so it
                 // doesn't fire again on the next start; an interrupted run resumes from
@@ -127,6 +159,7 @@ export default function createPlugin(app) {
             }
         },
         stop() {
+            running = false;
             abortController?.abort("Stopping signalk-livedepth-plugin");
             tileStore?.close();
             tileStore = undefined;
@@ -135,10 +168,9 @@ export default function createPlugin(app) {
             return schema(app);
         },
         registerWithRouter(router) {
-            registerBathymetryRoutes(router, () => tileStore, () => ({
-                depthPath: config ? `environment.depth.${config.path}` : undefined,
-                transducer,
-            }), seed);
+            // The one-time seed trigger stays admin-only, on the plugin's own router;
+            // the store the extension reads is served from the top-level route above.
+            registerSeedRoutes(router, seed);
         },
     };
 }

package/dist/plugin.js.map

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package/dist/streams/live.d.ts

@@ -1,11 +1,23 @@
 import { ServerAPI } from "@signalk/server-api";
 import { PassThrough } from "stream";
-import { TransducerOffset } from "signalk-livedepth-tiles";
+import { TransducerOffset } from "../tiles/core/index.js";
 import { Config } from "../config.js";
 /**
- * Subscribe to the vessel's own depth and pair each sounding with the last
- * position fix, emitting `BathymetryData` objects. When `offset` is given, the
- * position is shifted from the vessel reference point to the transducer.
+ * Subscribe to every vessel that publishes a depth on the configured datum,
+ * pair each sounding with that vessel's own position fix, and emit
+ * `BathymetryData`. Vessels are discovered from the data model: one that
+ * publishes a depth is recorded, an AIS target (position but no depth) is not,
+ * so a tender or a second sounder-equipped vessel is picked up automatically.
+ *
+ * The vessel's position and heading are subscribed alongside the depth, so a
+ * sounding is paired with the fix it was recorded at — including a replayed
+ * (back-dated) sounding from a vessel that was offline, which the data model's
+ * current position would place wrongly. The model is the fallback before the
+ * stream has carried a fix. A vessel with no compass has only course over
+ * ground, so that is the heading fallback.
+ *
+ * The transducer `offset` describes this vessel's hull, so it is applied only
+ * to this vessel's own soundings.
  */
 export declare function createLiveStream(app: ServerAPI, config: Config, offset?: TransducerOffset): PassThrough;
 //# sourceMappingURL=live.d.ts.map

package/dist/streams/live.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"live.d.ts","sourceRoot":"","sources":["../../src/streams/live.ts"],"names":[],"mappings":"AAAA,OAAO,EAAwB,SAAS,EAAE,MAAM,qBAAqB,CAAC;AACtE,OAAO,EAAE,WAAW,EAAE,MAAM,QAAQ,CAAC;AACrC,OAAO,EAAuB,gBAAgB,EAAE,MAAM,wBAAwB,CAAC;AAC/E,OAAO,EAAE,MAAM,EAAE,MAAM,cAAc,CAAC;AA8CtC;;;;;;;;;;;;;;;;GAgBG;AACH,wBAAgB,gBAAgB,CAC9B,GAAG,EAAE,SAAS,EACd,MAAM,EAAE,MAAM,EACd,MAAM,CAAC,EAAE,gBAAgB,eAmK1B"}

package/dist/streams/live.js

@@ -1,57 +1,178 @@
 import { PassThrough } from "stream";
-import { correctToTransducer } from "signalk-livedepth-tiles";
+import { correctToTransducer } from "../tiles/core/index.js";
 import { Temporal } from "@js-temporal/polyfill";
 /** Maximum age of last position fix for a depth to be saved */
 const ttl = 2000;
+/** How often to look for vessels that have started (or stopped) publishing. */
+const scanIntervalMs = 15000;
+/** A vessel's own fix and heading, subscribed alongside its depth so a
+ * sounding is paired with the position it was recorded at. */
+const POSITION = "navigation.position";
+const HEADING = "navigation.headingTrue";
+/** Course over ground — the heading fallback for a vessel with no compass. */
+const COURSE = "navigation.courseOverGroundTrue";
+/** The `[lon, lat]` of a position in either raw (`{ longitude, latitude }`) or
+ * data-model node (`{ value: { … }, timestamp }`) form. */
+function positionOf(value) {
+    const v = value?.value ?? value;
+    if (!v || typeof v !== "object")
+        return undefined;
+    const { longitude, latitude } = v;
+    if (typeof longitude === "number" && typeof latitude === "number") {
+        return { longitude, latitude };
+    }
+    return undefined;
+}
 /**
- * Subscribe to the vessel's own depth and pair each sounding with the last
- * position fix, emitting `BathymetryData` objects. When `offset` is given, the
- * position is shifted from the vessel reference point to the transducer.
+ * Subscribe to every vessel that publishes a depth on the configured datum,
+ * pair each sounding with that vessel's own position fix, and emit
+ * `BathymetryData`. Vessels are discovered from the data model: one that
+ * publishes a depth is recorded, an AIS target (position but no depth) is not,
+ * so a tender or a second sounder-equipped vessel is picked up automatically.
+ *
+ * The vessel's position and heading are subscribed alongside the depth, so a
+ * sounding is paired with the fix it was recorded at — including a replayed
+ * (back-dated) sounding from a vessel that was offline, which the data model's
+ * current position would place wrongly. The model is the fallback before the
+ * stream has carried a fix. A vessel with no compass has only course over
+ * ground, so that is the heading fallback.
+ *
+ * The transducer `offset` describes this vessel's hull, so it is applied only
+ * to this vessel's own soundings.
  */
 export function createLiveStream(app, config, offset) {
-    const path = `environment.depth.${config.path}`;
-    app.debug(`Collecting depth data from environment.depth.${path}`);
-    const unsubscribes = [];
+    const depthPath = `environment.depth.${config.path}`;
+    const include = new Set(config.vessels?.include ?? []);
+    const exclude = new Set(config.vessels?.exclude ?? []);
+    const selfUrn = app.getSelfPath("uuid");
+    const selfContext = selfUrn ? `vessels.${selfUrn}` : "vessels.self";
+    app.debug(`Collecting ${depthPath} from every vessel that publishes it`);
     const stream = new PassThrough({ objectMode: true });
-    stream.on("close", () => {
-        unsubscribes.forEach((f) => f());
-    });
-    app.subscriptionmanager.subscribe({
-        context: "vessels.self",
-        subscribe: [{ path, policy: "instant" }],
-    }, unsubscribes, (error) => app.error(error), (delta) => {
+    const unsubscribes = new Map();
+    let scanTimer;
+    const isSelf = (context) => context === "vessels.self" || context === selfContext;
+    const wanted = (context) => !exclude.has(context) && (include.size === 0 || include.has(context));
+    const readVessel = (context, path) => isSelf(context) ? app.getSelfPath(path) : app.getPath(`${context}.${path}`);
+    // The last fix seen per vessel on the stream, so a sounding is paired with
+    // the position it was recorded at — and a replayed (back-dated) sounding uses
+    // the replayed position, not the vessel's current one.
+    const fixes = new Map();
+    const headings = new Map();
+    // Course over ground, the heading fallback for a vessel with no compass.
+    const courses = new Map();
+    const collect = (context, delta) => {
         delta.updates.forEach((update) => {
-            const timestamp = Temporal.Instant.from(update.timestamp ?? Temporal.Now.instant());
-            const position = app.getSelfPath("navigation.position");
-            let heading = app.getSelfPath("navigation.headingTrue");
-            if ("values" in update) {
-                update.values.forEach(({ value }) => {
-                    if (!value)
-                        return;
-                    if (!position)
-                        return app.debug("No position data, ignoring depth data");
-                    if (isStale(position, timestamp, ttl))
-                        return app.debug("Stale position data, ignoring depth data");
-                    if (heading && isStale(heading, timestamp, ttl)) {
-                        app.debug("Stale heading data, discarding");
-                        heading = undefined;
-                    }
-                    const { lon, lat } = offset
-                        ? correctToTransducer({
-                            lon: position.value.longitude,
-                            lat: position.value.latitude,
-                        }, heading?.value, offset)
-                        : { lon: position.value.longitude, lat: position.value.latitude };
-                    stream.push({
-                        longitude: lon,
-                        latitude: lat,
-                        depth: value,
-                        timestamp,
-                        heading: heading?.value,
-                    });
-                });
+            if (!("values" in update))
+                return;
+            const ts = update.timestamp ?? Temporal.Now.instant().toString();
+            const timestamp = Temporal.Instant.from(ts);
+            // Absorb the update's own position/heading first, so a depth sounding in
+            // the same update pairs with the fix it was recorded at.
+            update.values.forEach(({ path, value }) => {
+                if (path === POSITION) {
+                    const p = positionOf(value);
+                    if (p)
+                        fixes.set(context, { ...p, timestamp: ts });
+                }
+                else if (path === HEADING && typeof value === "number") {
+                    headings.set(context, { value, timestamp: ts });
+                }
+                else if (path === COURSE && typeof value === "number") {
+                    courses.set(context, { value, timestamp: ts });
+                }
+            });
+            // Pair soundings with the last fix from the stream, or the data model
+            // before the stream has carried one (a vessel discovered but silent so
+            // far).
+            let fix = fixes.get(context);
+            if (!fix) {
+                const node = readVessel(context, POSITION);
+                const p = positionOf(node);
+                if (p)
+                    fix = { ...p, timestamp: node?.timestamp ?? ts };
             }
+            // A vessel with no compass has only course over ground; use it as the
+            // heading fallback (it is the direction of travel, so meaningless while
+            // stopped, but there is nothing else).
+            let heading = headings.get(context) ?? courses.get(context);
+            if (!heading) {
+                heading =
+                    readVessel(context, HEADING) ??
+                        readVessel(context, COURSE);
+            }
+            update.values.forEach(({ path, value }) => {
+                // The subscription carries position and heading too; only a depth value
+                // is a sounding.
+                if (path !== depthPath)
+                    return;
+                if (!value)
+                    return;
+                if (!fix)
+                    return app.debug(`No position for ${context}, ignoring depth data`);
+                if (isStale(fix, timestamp, ttl))
+                    return app.debug(`Stale position for ${context}, ignoring depth data`);
+                if (heading && isStale(heading, timestamp, ttl)) {
+                    app.debug("Stale heading data, discarding");
+                    heading = undefined;
+                }
+                const vesselOffset = isSelf(context) ? offset : undefined;
+                const { lon, lat } = vesselOffset
+                    ? correctToTransducer({ lon: fix.longitude, lat: fix.latitude }, heading?.value, vesselOffset)
+                    : { lon: fix.longitude, lat: fix.latitude };
+                stream.push({
+                    longitude: lon,
+                    latitude: lat,
+                    depth: value,
+                    timestamp,
+                    heading: heading?.value,
+                    context,
+                });
+            });
         });
+    };
+    const subscribe = (context) => {
+        const unsubs = [];
+        app.subscriptionmanager.subscribe({
+            context: context,
+            subscribe: [
+                { path: depthPath, policy: "instant" },
+                { path: POSITION, policy: "instant" },
+                { path: HEADING, policy: "instant" },
+                { path: COURSE, policy: "instant" },
+            ],
+        }, unsubs, (error) => app.error(error), (delta) => collect(context, delta));
+        unsubscribes.set(context, () => unsubs.forEach((f) => f()));
+        app.debug(`Recording ${depthPath} from ${context}`);
+    };
+    const scan = () => {
+        const vessels = app.getPath("vessels");
+        if (!vessels)
+            return;
+        for (const [key, node] of Object.entries(vessels)) {
+            const context = key === "self" ? "vessels.self" : `vessels.${key}`;
+            if (unsubscribes.has(context) || !wanted(context))
+                continue;
+            // A depth on the chosen datum is what makes a vessel worth recording;
+            // AIS targets have a position but never a depth.
+            if (!node?.environment?.depth?.[config.path])
+                continue;
+            if (!node?.navigation?.position)
+                continue;
+            subscribe(context);
+        }
+        // A vessel is never unsubscribed for going quiet. It may be offline and
+        // replay its buffered deltas when it reconnects, and the data model entry
+        // is pruned while it is away — dropping the subscription then is exactly
+        // what loses the replay.
+    };
+    scan();
+    scanTimer = setInterval(scan, scanIntervalMs);
+    scanTimer.unref?.();
+    stream.on("close", () => {
+        if (scanTimer)
+            clearInterval(scanTimer);
+        unsubscribes.forEach((unsubscribe) => unsubscribe());
+        unsubscribes.clear();
     });
     return stream;
 }

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package/dist/tiles/api.d.ts

@@ -1,8 +1,10 @@
-import type { PluginRouter } from "@signalk/server-api";
-import { TileStore } from "signalk-livedepth-tiles";
+import type { PluginRouter, ServerAPI } from "@signalk/server-api";
+import { TileStore } from "./core/index.js";
 import { SeedProgress } from "./seed.js";
 /** Wire format of a `/bathymetry/tiles` response. */
 export declare const BATHYMETRY_FORMAT = "sparse-v1";
+/** Top-level, non-admin route the store is served from. */
+export declare const BATHYMETRY_BASE = "/plotterext/signalk-livedepth-plugin/bathymetry";
 /** Extra fields a client needs to mirror the store (depth path, offsets, …). */
 export type BathymetryMeta = Record<string, unknown>;
 /** Status of the one-time history seed, as served to the admin UI. */
@@ -21,16 +23,24 @@ export interface SeedHandle {
     status(): SeedStatus;
 }
 /**
- * Serve the gridded store to a chart client.
+ * Serve the gridded store to the extension runtime — and any other chart
+ * client.
  *
- * Mounted by the Signal K server at `/plugins/<pluginId>`, e.g.
- * `GET /plugins/crowd-depth/bathymetry/tiles/20/12345/6789`. A client seeds the
- * current view from these tiles, then keeps its own copy up to date from the
- * same live `navigation.position` + `environment.depth.*` stream the plugin
- * consumes.
+ * Mounted at a top-level, non-admin path
+ * (`/plotterext/<id>/bathymetry/…`) so an extension iframe loaded for a
+ * read-only user can reach it: the provider guide warns that the `/plugins/*`
+ * path is admin-gated. A client seeds its view from these tiles, then keeps its
+ * own copy current from the live `navigation.position` + `environment.depth.*`
+ * stream the plugin consumes.
  *
- * `getStore`/`getMeta` are read per request because the router may be
- * registered before the plugin's `start()` has built the store.
+ * `getStore`/`getMeta` are read per request because the routes are registered
+ * before the plugin's `start()` has built the store.
  */
-export declare function registerBathymetryRoutes(router: PluginRouter, getStore: () => TileStore | undefined, getMeta?: () => BathymetryMeta, seed?: SeedHandle): void;
+export declare function registerBathymetryRoutes(app: ServerAPI, getStore: () => TileStore | undefined, getMeta?: () => BathymetryMeta): void;
+/**
+ * The one-time history seed trigger, on the plugin's own router
+ * (`/plugins/<id>/bathymetry/seed`). Registered without `access()`, so it
+ * requires admin — it mutates the store.
+ */
+export declare function registerSeedRoutes(router: PluginRouter, seed: SeedHandle): void;
 //# sourceMappingURL=api.d.ts.map

package/dist/tiles/api.d.ts.map

@@ -1 +1 @@
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