fix(types): typescript type generation improvements (contributes to #402)

[sstone1]

Lots of changes to improve TypeScript generation across all modules:

• Install TypeScript as a development dependency into all projects
• Remove npx -p typescript tsc from build:types target and just use tsc instead
• Force build:types to be run during CI by adding it as the postdoc target (it validates all types are correct)
• Remove JSON requires that are exported and replace with JSON.parse(fs.readFileSync(...)) equivalent
  These don't work well with TypeScript generation; the compiler omits them altogether 🤦
• Remove const Thing = require('module').Thing and use const { Thing } = require('module')
  This style of imports doesn't work well with TypeScript generation, especially when multiple imports of the same module occur - it's also redundant to type Thing twice
• Import types that are used in JSDoc comments but not elsewhere in the code to give TypeScript everything it needs
  These imports are wrapped in eslint-disable and eslint-enable blocks because they are unused in code.
  These imports are wrapped in a if (global === undefined) { (never true) block because otherwise we get circular requires and these cause the code to fall over in a heap
  These imports are wrapped in a istanbul ignore next block because the if condition will never be true
• Fixed a bunch of @private vs @protected errors which the TypeScript compiler caught
• Enable TypeScript generation for concerto-tools

[mttrbrts]

The following pattern is incredibly ugly, but I don't see another way around it beyond migrating the whole project to TypeScript.

// Types needed for TypeScript generation.
/* eslint-disable no-unused-vars */
/* istanbul ignore next */
if (global === undefined) {
  ...
}
/* eslint-enable no-unused-vars */

I'd be happy to accept it as a short-term measure to unblock release of v2. Can you open an issue for porting to TypeScript as a long-term solution for v3+?