zenoh_dart

Dart and Flutter FFI bindings for Eclipse Zenoh, prepared by M-PIA. This package exposes Zenoh's core APIs to Flutter apps across Android, iOS, macOS, Windows, Linux, and Web (experimental).

Project goals

  • Ship prebuilt Zenoh native libraries for each supported platform and architecture.
  • Offer idiomatic Dart wrappers for sessions, publishers, subscribers, and queries.
  • Provide ready-to-run examples for ROS 2 bridge scenarios.
  • Publish the package on pub.flutter-io.cn under the M-PIA banner.

Getting started

  1. Install the Dart and Flutter SDKs (>= 3.4.0 / >= 3.24.0).

  2. Add the dependency once the package is published:

    flutter pub add zenoh_dart

  3. Initialize a session and interact with Zenoh resources:

    final client = await ZenohClient.connect(ZenohConfig());

final publisher = await client.declarePublisher('demo/example');
final subscriber = await client.subscribe('demo/example');

 final sub = subscriber.stream.listen((sample) {
    final message = sample.payloadAsString();
    debugPrint('πŸ”” received: ${sample.keyExpr} -> $message');
});

 await client.publishString(publisher, 'Hello Zenoh!');

await sub.cancel();
await client.undeclareSubscriber(subscriber);
await client.undeclarePublisher(publisher);
await client.close();

Native binaries

The native/ directory contains per-platform Zenoh distributions. Native binary archives (.zip files) are not included in the package to keep the download size reasonable.

Download binaries

Run the helper script to download and extract official Zenoh C binaries:

dart run tool/fetch_zenoh_binaries.dart

This script downloads platform-specific archives from the Zenoh C releases and verifies SHA-256 checksums. Extract the downloaded archives to keep the shared library (.dll, .so, .dylib) in the correct native/<platform>/<arch>/ directory.

Platform support

  • βœ… Windows (x64 MSVC)
  • βœ… macOS (x64, arm64)
  • βœ… Linux (x64, arm64, armv7)
  • ⚠️ Android/iOS: Native binaries are not yet officially published. See doc/platform_support.md and build scripts in tool/ for instructions on building from source.
  • 🚧 Web: Experimental support with platform-agnostic architecture. Full implementation pending zenoh-ts integration. See doc/platform_support.md for details.

Note: Windows GNU toolchain binaries are not included in the package to reduce size. Use the MSVC binaries (default on Windows) or download the GNU version via dart run tool/fetch_zenoh_binaries.dart if needed.

Generating bindings

Place the Zenoh C headers under native/include/ (the project ships with a minimal zenoh.h stub for bootstrapping). Once the official headers are available, regenerate the Dart FFI layer with:

dart run ffigen

The command writes expanded bindings into lib/src/bindings/zenoh_generated.dart, which you can then wrap with higher-level Dart helpers.

Platform support

See doc/platform_support.md for detailed build requirements and instructions.

Licensing

This project adopts the Apache License 2.0 with an explicit NOTICE file referencing M-PIA. See LICENSE and NOTICE for details.

Libraries

zenoh_dart
zenoh_dart_web