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, and Linux. Web support will follow once WebAssembly bindings are production ready.

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('🔔 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 #

• ✅ Windows (x64 MSVC)
• ✅ macOS (x64, arm64)
• ✅ 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.

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.