Mon Feb 21 02:22:44 PM HKT 2022

README.md

@@ -1 +1,53 @@
 # roslibdart
+
+The is a fork of the original roslib by @artrmz, @TimWhiting, @artrmz. roslibdart is a library for communicating to a ROS node over websockets with rosbridge. It is heavily influenced by roslibjs and follows the same structure. This is an effort to update the library and mark it compatible to ros2 and dart2.
+
+## List of feature implementation statuses (essentially a list of features required to reach roslibjs's level)
+- [X] Core:
+  - [x] ROS connection object
+  - [x] Topic object (subscribe, unsubscribe, publish, advertise, unadvertise)
+  - [x] Service object (call, advertise, unadvertise)
+  - [x] Request object (provides typing and naming to any potential ROS request)
+  - [x] Param object (get, set, delete)
+- [ ] Actionlib:
+  - [ ] ActionClient
+  - [ ] ActionListener
+  - [ ] Goal
+  - [ ] SimpleActionServer
+- [ ] Support TCP connections
+- [ ] TFClient (listen to TFs from tf2_web_republisher)
+- [ ] URDF (Box, Color, Cylinder, Joint, Material, Mesh, Model, Sphere, Types, Visual)
+
+## Usage
+### Install rosbridge
+You can either
+```
+# install using apt-get
+sudo apt-get install ros-foxy-rosbridge-server
+#  or you can clone from github
+cd ros_ws/src
+git clone https://github.com/RobotWebTools/rosbridge_suite
+cd ..
+colcon build
+```
+### Run ros bridge
+```
+source install/local_setup.bash
+ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+```
+### Run topic publisher
+```
+# Assume ros_ws is your workspace
+cp -r rospackage/* ~/ros_ws/src/
+cd ~/ros_ws
+colcon build
+source install/local_setup.bash
+ros2 run tutorial publisher
+```
+### Fire up flutter subscriber
+```
+cd example/subscriber
+flutter run -d linux
+```
+
+

example/subscriber/README.md

@@ -0,0 +1,16 @@
+# subscriber
+
+A new Flutter project.
+
+## Getting Started
+
+This project is a starting point for a Flutter application.
+
+A few resources to get you started if this is your first Flutter project:
+
+- [Lab: Write your first Flutter app](https://flutter.dev/docs/get-started/codelab)
+- [Cookbook: Useful Flutter samples](https://flutter.dev/docs/cookbook)
+
+For help getting started with Flutter, view our
+[online documentation](https://flutter.dev/docs), which offers tutorials,
+samples, guidance on mobile development, and a full API reference.

example/subscriber/analysis_options.yaml

@@ -0,0 +1,29 @@
+# This file configures the analyzer, which statically analyzes Dart code to
+# check for errors, warnings, and lints.
+#
+# The issues identified by the analyzer are surfaced in the UI of Dart-enabled
+# IDEs (https://dart.dev/tools#ides-and-editors). The analyzer can also be
+# invoked from the command line by running `flutter analyze`.
+
+# The following line activates a set of recommended lints for Flutter apps,
+# packages, and plugins designed to encourage good coding practices.
+include: package:flutter_lints/flutter.yaml
+
+linter:
+  # The lint rules applied to this project can be customized in the
+  # section below to disable rules from the `package:flutter_lints/flutter.yaml`
+  # included above or to enable additional rules. A list of all available lints
+  # and their documentation is published at
+  # https://dart-lang.github.io/linter/lints/index.html.
+  #
+  # Instead of disabling a lint rule for the entire project in the
+  # section below, it can also be suppressed for a single line of code
+  # or a specific dart file by using the `// ignore: name_of_lint` and
+  # `// ignore_for_file: name_of_lint` syntax on the line or in the file
+  # producing the lint.
+  rules:
+    # avoid_print: false  # Uncomment to disable the `avoid_print` rule
+    # prefer_single_quotes: true  # Uncomment to enable the `prefer_single_quotes` rule
+
+# Additional information about this file can be found at
+# https://dart.dev/guides/language/analysis-options

example/subscriber/android/.gitignore

@@ -0,0 +1,13 @@
+gradle-wrapper.jar
+/.gradle
+/captures/
+/gradlew
+/gradlew.bat
+/local.properties
+GeneratedPluginRegistrant.java
+
+# Remember to never publicly share your keystore.
+# See https://flutter.dev/docs/deployment/android#reference-the-keystore-from-the-app
+key.properties
+**/*.keystore
+**/*.jks

example/subscriber/android/app/build.gradle

@@ -0,0 +1,68 @@
+def localProperties = new Properties()
+def localPropertiesFile = rootProject.file('local.properties')
+if (localPropertiesFile.exists()) {
+    localPropertiesFile.withReader('UTF-8') { reader ->
+        localProperties.load(reader)
+    }
+}
+
+def flutterRoot = localProperties.getProperty('flutter.sdk')
+if (flutterRoot == null) {
+    throw new GradleException("Flutter SDK not found. Define location with flutter.sdk in the local.properties file.")
+}
+
+def flutterVersionCode = localProperties.getProperty('flutter.versionCode')
+if (flutterVersionCode == null) {
+    flutterVersionCode = '1'
+}
+
+def flutterVersionName = localProperties.getProperty('flutter.versionName')
+if (flutterVersionName == null) {
+    flutterVersionName = '1.0'
+}
+
+apply plugin: 'com.android.application'
+apply plugin: 'kotlin-android'
+apply from: "$flutterRoot/packages/flutter_tools/gradle/flutter.gradle"
+
+android {
+    compileSdkVersion flutter.compileSdkVersion
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+
+    kotlinOptions {
+        jvmTarget = '1.8'
+    }
+
+    sourceSets {
+        main.java.srcDirs += 'src/main/kotlin'
+    }
+
+    defaultConfig {
+        // TODO: Specify your own unique Application ID (https://developer.android.com/studio/build/application-id.html).
+        applicationId "com.example.subscriber"
+        minSdkVersion flutter.minSdkVersion
+        targetSdkVersion flutter.targetSdkVersion
+        versionCode flutterVersionCode.toInteger()
+        versionName flutterVersionName
+    }
+
+    buildTypes {
+        release {
+            // TODO: Add your own signing config for the release build.
+            // Signing with the debug keys for now, so `flutter run --release` works.
+            signingConfig signingConfigs.debug
+        }
+    }
+}
+
+flutter {
+    source '../..'
+}
+
+dependencies {
+    implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
+}

example/subscriber/android/app/src/debug/AndroidManifest.xml

@@ -0,0 +1,7 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.example.subscriber">
+    <!-- Flutter needs it to communicate with the running application
+         to allow setting breakpoints, to provide hot reload, etc.
+    -->
+    <uses-permission android:name="android.permission.INTERNET"/>
+</manifest>

example/subscriber/android/app/src/main/AndroidManifest.xml

@@ -0,0 +1,34 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.example.subscriber">
+   <application
+        android:label="subscriber"
+        android:name="${applicationName}"
+        android:icon="@mipmap/ic_launcher">
+        <activity
+            android:name=".MainActivity"
+            android:exported="true"
+            android:launchMode="singleTop"
+            android:theme="@style/LaunchTheme"
+            android:configChanges="orientation|keyboardHidden|keyboard|screenSize|smallestScreenSize|locale|layoutDirection|fontScale|screenLayout|density|uiMode"
+            android:hardwareAccelerated="true"
+            android:windowSoftInputMode="adjustResize">
+            <!-- Specifies an Android theme to apply to this Activity as soon as
+                 the Android process has started. This theme is visible to the user
+                 while the Flutter UI initializes. After that, this theme continues
+                 to determine the Window background behind the Flutter UI. -->
+            <meta-data
+              android:name="io.flutter.embedding.android.NormalTheme"
+              android:resource="@style/NormalTheme"
+              />
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+                <category android:name="android.intent.category.LAUNCHER"/>
+            </intent-filter>
+        </activity>
+        <!-- Don't delete the meta-data below.
+             This is used by the Flutter tool to generate GeneratedPluginRegistrant.java -->
+        <meta-data
+            android:name="flutterEmbedding"
+            android:value="2" />
+    </application>
+</manifest>

example/subscriber/android/app/src/main/kotlin/com/example/subscriber/MainActivity.kt

@@ -0,0 +1,6 @@
+package com.example.subscriber
+
+import io.flutter.embedding.android.FlutterActivity
+
+class MainActivity: FlutterActivity() {
+}

example/subscriber/android/app/src/main/res/drawable-v21/launch_background.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Modify this file to customize your launch splash screen -->
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="?android:colorBackground" />
+
+    <!-- You can insert your own image assets here -->
+    <!-- <item>
+        <bitmap
+            android:gravity="center"
+            android:src="@mipmap/launch_image" />
+    </item> -->
+</layer-list>

example/subscriber/android/app/src/main/res/drawable/launch_background.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Modify this file to customize your launch splash screen -->
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@android:color/white" />
+
+    <!-- You can insert your own image assets here -->
+    <!-- <item>
+        <bitmap
+            android:gravity="center"
+            android:src="@mipmap/launch_image" />
+    </item> -->
+</layer-list>

example/subscriber/android/app/src/main/res/values-night/styles.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <!-- Theme applied to the Android Window while the process is starting when the OS's Dark Mode setting is on -->
+    <style name="LaunchTheme" parent="@android:style/Theme.Black.NoTitleBar">
+        <!-- Show a splash screen on the activity. Automatically removed when
+             Flutter draws its first frame -->
+        <item name="android:windowBackground">@drawable/launch_background</item>
+    </style>
+    <!-- Theme applied to the Android Window as soon as the process has started.
+         This theme determines the color of the Android Window while your
+         Flutter UI initializes, as well as behind your Flutter UI while its
+         running.
+
+         This Theme is only used starting with V2 of Flutter's Android embedding. -->
+    <style name="NormalTheme" parent="@android:style/Theme.Black.NoTitleBar">
+        <item name="android:windowBackground">?android:colorBackground</item>
+    </style>
+</resources>

example/subscriber/android/app/src/main/res/values/styles.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <!-- Theme applied to the Android Window while the process is starting when the OS's Dark Mode setting is off -->
+    <style name="LaunchTheme" parent="@android:style/Theme.Light.NoTitleBar">
+        <!-- Show a splash screen on the activity. Automatically removed when
+             Flutter draws its first frame -->
+        <item name="android:windowBackground">@drawable/launch_background</item>
+    </style>
+    <!-- Theme applied to the Android Window as soon as the process has started.
+         This theme determines the color of the Android Window while your
+         Flutter UI initializes, as well as behind your Flutter UI while its
+         running.
+
+         This Theme is only used starting with V2 of Flutter's Android embedding. -->
+    <style name="NormalTheme" parent="@android:style/Theme.Light.NoTitleBar">
+        <item name="android:windowBackground">?android:colorBackground</item>
+    </style>
+</resources>

example/subscriber/android/app/src/profile/AndroidManifest.xml

@@ -0,0 +1,7 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.example.subscriber">
+    <!-- Flutter needs it to communicate with the running application
+         to allow setting breakpoints, to provide hot reload, etc.
+    -->
+    <uses-permission android:name="android.permission.INTERNET"/>
+</manifest>

example/subscriber/android/build.gradle

@@ -0,0 +1,31 @@
+buildscript {
+    ext.kotlin_version = '1.6.10'
+    repositories {
+        google()
+        mavenCentral()
+    }
+
+    dependencies {
+        classpath 'com.android.tools.build:gradle:4.1.0'
+        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
+    }
+}
+
+allprojects {
+    repositories {
+        google()
+        mavenCentral()
+    }
+}
+
+rootProject.buildDir = '../build'
+subprojects {
+    project.buildDir = "${rootProject.buildDir}/${project.name}"
+}
+subprojects {
+    project.evaluationDependsOn(':app')
+}
+
+task clean(type: Delete) {
+    delete rootProject.buildDir
+}

example/subscriber/android/gradle.properties

@@ -0,0 +1,3 @@
+org.gradle.jvmargs=-Xmx1536M
+android.useAndroidX=true
+android.enableJetifier=true

example/subscriber/android/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,6 @@
+#Fri Jun 23 08:50:38 CEST 2017
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.7-all.zip

example/subscriber/android/settings.gradle

@@ -0,0 +1,11 @@
+include ':app'
+
+def localPropertiesFile = new File(rootProject.projectDir, "local.properties")
+def properties = new Properties()
+
+assert localPropertiesFile.exists()
+localPropertiesFile.withReader("UTF-8") { reader -> properties.load(reader) }
+
+def flutterSdkPath = properties.getProperty("flutter.sdk")
+assert flutterSdkPath != null, "flutter.sdk not set in local.properties"
+apply from: "$flutterSdkPath/packages/flutter_tools/gradle/app_plugin_loader.gradle"

example/subscriber/ios/.gitignore

@@ -0,0 +1,34 @@
+**/dgph
+*.mode1v3
+*.mode2v3
+*.moved-aside
+*.pbxuser
+*.perspectivev3
+**/*sync/
+.sconsign.dblite
+.tags*
+**/.vagrant/
+**/DerivedData/
+Icon?
+**/Pods/
+**/.symlinks/
+profile
+xcuserdata
+**/.generated/
+Flutter/App.framework
+Flutter/Flutter.framework
+Flutter/Flutter.podspec
+Flutter/Generated.xcconfig
+Flutter/ephemeral/
+Flutter/app.flx
+Flutter/app.zip
+Flutter/flutter_assets/
+Flutter/flutter_export_environment.sh
+ServiceDefinitions.json
+Runner/GeneratedPluginRegistrant.*
+
+# Exceptions to above rules.
+!default.mode1v3
+!default.mode2v3
+!default.pbxuser
+!default.perspectivev3

example/subscriber/ios/Flutter/AppFrameworkInfo.plist

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+  <key>CFBundleDevelopmentRegion</key>
+  <string>en</string>
+  <key>CFBundleExecutable</key>
+  <string>App</string>
+  <key>CFBundleIdentifier</key>
+  <string>io.flutter.flutter.app</string>
+  <key>CFBundleInfoDictionaryVersion</key>
+  <string>6.0</string>
+  <key>CFBundleName</key>
+  <string>App</string>
+  <key>CFBundlePackageType</key>
+  <string>FMWK</string>
+  <key>CFBundleShortVersionString</key>
+  <string>1.0</string>
+  <key>CFBundleSignature</key>
+  <string>????</string>
+  <key>CFBundleVersion</key>
+  <string>1.0</string>
+  <key>MinimumOSVersion</key>
+  <string>9.0</string>
+</dict>
+</plist>

example/subscriber/ios/Flutter/Debug.xcconfig

@@ -0,0 +1 @@
+#include "Generated.xcconfig"

example/subscriber/ios/Flutter/Release.xcconfig

@@ -0,0 +1 @@
+#include "Generated.xcconfig"

example/subscriber/ios/Runner.xcodeproj/project.pbxproj

@@ -0,0 +1,481 @@
+// !$*UTF8*$!
+{
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+	classes = {
+	};
+	objectVersion = 50;
+	objects = {
+
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+			);
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+		};
+/* End PBXFrameworksBuildPhase section */
+
+/* Begin PBXGroup section */
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+			isa = PBXGroup;
+			children = (
+				3B3967151E833CAA004F5970 /* AppFrameworkInfo.plist */,
+				9740EEB21CF90195004384FC /* Debug.xcconfig */,
+				7AFA3C8E1D35360C0083082E /* Release.xcconfig */,
+				9740EEB31CF90195004384FC /* Generated.xcconfig */,
+			);
+			name = Flutter;
+			sourceTree = "<group>";
+		};
+		97C146E51CF9000F007C117D = {
+			isa = PBXGroup;
+			children = (
+				9740EEB11CF90186004384FC /* Flutter */,
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+			);
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+		};
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+			isa = PBXGroup;
+			children = (
+				97C146FA1CF9000F007C117D /* Main.storyboard */,
+				97C146FD1CF9000F007C117D /* Assets.xcassets */,
+				97C146FF1CF9000F007C117D /* LaunchScreen.storyboard */,
+				97C147021CF9000F007C117D /* Info.plist */,
+				1498D2321E8E86230040F4C2 /* GeneratedPluginRegistrant.h */,
+				1498D2331E8E89220040F4C2 /* GeneratedPluginRegistrant.m */,
+				74858FAE1ED2DC5600515810 /* AppDelegate.swift */,
+				74858FAD1ED2DC5600515810 /* Runner-Bridging-Header.h */,
+			);
+			path = Runner;
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+				LastUpgradeCheck = 1300;
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+/* Begin PBXVariantGroup section */
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+			);
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+			);
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+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
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+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
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+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
+				CLANG_WARN_STRICT_PROTOTYPES = YES;
+				CLANG_WARN_SUSPICIOUS_MOVE = YES;
+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				"CODE_SIGN_IDENTITY[sdk=iphoneos*]" = "iPhone Developer";
+				COPY_PHASE_STRIP = NO;
+				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
+				ENABLE_NS_ASSERTIONS = NO;
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+				GCC_NO_COMMON_BLOCKS = YES;
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+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				IPHONEOS_DEPLOYMENT_TARGET = 9.0;
+				MTL_ENABLE_DEBUG_INFO = NO;
+				SDKROOT = iphoneos;
+				SUPPORTED_PLATFORMS = iphoneos;
+				TARGETED_DEVICE_FAMILY = "1,2";
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+		};
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+			isa = XCBuildConfiguration;
+			baseConfigurationReference = 7AFA3C8E1D35360C0083082E /* Release.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CLANG_ENABLE_MODULES = YES;
+				CURRENT_PROJECT_VERSION = "$(FLUTTER_BUILD_NUMBER)";
+				ENABLE_BITCODE = NO;
+				INFOPLIST_FILE = Runner/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = (
+					"$(inherited)",
+					"@executable_path/Frameworks",
+				);
+				PRODUCT_BUNDLE_IDENTIFIER = com.example.subscriber;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_OBJC_BRIDGING_HEADER = "Runner/Runner-Bridging-Header.h";
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+		};
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+			isa = XCBuildConfiguration;
+			buildSettings = {
+				ALWAYS_SEARCH_USER_PATHS = NO;
+				CLANG_ANALYZER_NONNULL = YES;
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++0x";
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+				CLANG_ENABLE_OBJC_ARC = YES;
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+				CLANG_WARN_COMMA = YES;
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+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
+				CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
+				CLANG_WARN_STRICT_PROTOTYPES = YES;
+				CLANG_WARN_SUSPICIOUS_MOVE = YES;
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+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
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+				ENABLE_TESTABILITY = YES;
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+				GCC_NO_COMMON_BLOCKS = YES;
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+				GCC_PREPROCESSOR_DEFINITIONS = (
+					"DEBUG=1",
+					"$(inherited)",
+				);
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				IPHONEOS_DEPLOYMENT_TARGET = 9.0;
+				MTL_ENABLE_DEBUG_INFO = YES;
+				ONLY_ACTIVE_ARCH = YES;
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+				TARGETED_DEVICE_FAMILY = "1,2";
+			};
+			name = Debug;
+		};
+		97C147041CF9000F007C117D /* Release */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				ALWAYS_SEARCH_USER_PATHS = NO;
+				CLANG_ANALYZER_NONNULL = YES;
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++0x";
+				CLANG_CXX_LIBRARY = "libc++";
+				CLANG_ENABLE_MODULES = YES;
+				CLANG_ENABLE_OBJC_ARC = YES;
+				CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES;
+				CLANG_WARN_BOOL_CONVERSION = YES;
+				CLANG_WARN_COMMA = YES;
+				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
+				CLANG_WARN_EMPTY_BODY = YES;
+				CLANG_WARN_ENUM_CONVERSION = YES;
+				CLANG_WARN_INFINITE_RECURSION = YES;
+				CLANG_WARN_INT_CONVERSION = YES;
+				CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
+				CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
+				CLANG_WARN_STRICT_PROTOTYPES = YES;
+				CLANG_WARN_SUSPICIOUS_MOVE = YES;
+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				"CODE_SIGN_IDENTITY[sdk=iphoneos*]" = "iPhone Developer";
+				COPY_PHASE_STRIP = NO;
+				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
+				ENABLE_NS_ASSERTIONS = NO;
+				ENABLE_STRICT_OBJC_MSGSEND = YES;
+				GCC_C_LANGUAGE_STANDARD = gnu99;
+				GCC_NO_COMMON_BLOCKS = YES;
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				IPHONEOS_DEPLOYMENT_TARGET = 9.0;
+				MTL_ENABLE_DEBUG_INFO = NO;
+				SDKROOT = iphoneos;
+				SUPPORTED_PLATFORMS = iphoneos;
+				SWIFT_COMPILATION_MODE = wholemodule;
+				SWIFT_OPTIMIZATION_LEVEL = "-O";
+				TARGETED_DEVICE_FAMILY = "1,2";
+				VALIDATE_PRODUCT = YES;
+			};
+			name = Release;
+		};
+		97C147061CF9000F007C117D /* Debug */ = {
+			isa = XCBuildConfiguration;
+			baseConfigurationReference = 9740EEB21CF90195004384FC /* Debug.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CLANG_ENABLE_MODULES = YES;
+				CURRENT_PROJECT_VERSION = "$(FLUTTER_BUILD_NUMBER)";
+				ENABLE_BITCODE = NO;
+				INFOPLIST_FILE = Runner/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = (
+					"$(inherited)",
+					"@executable_path/Frameworks",
+				);
+				PRODUCT_BUNDLE_IDENTIFIER = com.example.subscriber;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_OBJC_BRIDGING_HEADER = "Runner/Runner-Bridging-Header.h";
+				SWIFT_OPTIMIZATION_LEVEL = "-Onone";
+				SWIFT_VERSION = 5.0;
+				VERSIONING_SYSTEM = "apple-generic";
+			};
+			name = Debug;
+		};
+		97C147071CF9000F007C117D /* Release */ = {
+			isa = XCBuildConfiguration;
+			baseConfigurationReference = 7AFA3C8E1D35360C0083082E /* Release.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CLANG_ENABLE_MODULES = YES;
+				CURRENT_PROJECT_VERSION = "$(FLUTTER_BUILD_NUMBER)";
+				ENABLE_BITCODE = NO;
+				INFOPLIST_FILE = Runner/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = (
+					"$(inherited)",
+					"@executable_path/Frameworks",
+				);
+				PRODUCT_BUNDLE_IDENTIFIER = com.example.subscriber;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_OBJC_BRIDGING_HEADER = "Runner/Runner-Bridging-Header.h";
+				SWIFT_VERSION = 5.0;
+				VERSIONING_SYSTEM = "apple-generic";
+			};
+			name = Release;
+		};
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+		97C146E91CF9000F007C117D /* Build configuration list for PBXProject "Runner" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				97C147031CF9000F007C117D /* Debug */,
+				97C147041CF9000F007C117D /* Release */,
+				249021D3217E4FDB00AE95B9 /* Profile */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+		97C147051CF9000F007C117D /* Build configuration list for PBXNativeTarget "Runner" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				97C147061CF9000F007C117D /* Debug */,
+				97C147071CF9000F007C117D /* Release */,
+				249021D4217E4FDB00AE95B9 /* Profile */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+/* End XCConfigurationList section */
+	};
+	rootObject = 97C146E61CF9000F007C117D /* Project object */;
+}

example/subscriber/ios/Runner.xcodeproj/project.xcworkspace/contents.xcworkspacedata

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "self:">
+   </FileRef>
+</Workspace>

example/subscriber/ios/Runner.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>

example/subscriber/ios/Runner.xcodeproj/project.xcworkspace/xcshareddata/WorkspaceSettings.xcsettings

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>PreviewsEnabled</key>
+	<false/>
+</dict>
+</plist>

example/subscriber/ios/Runner.xcodeproj/xcshareddata/xcschemes/Runner.xcscheme

@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Scheme
+   LastUpgradeVersion = "1300"
+   version = "1.3">
+   <BuildAction
+      parallelizeBuildables = "YES"
+      buildImplicitDependencies = "YES">
+      <BuildActionEntries>
+         <BuildActionEntry
+            buildForTesting = "YES"
+            buildForRunning = "YES"
+            buildForProfiling = "YES"
+            buildForArchiving = "YES"
+            buildForAnalyzing = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "97C146ED1CF9000F007C117D"
+               BuildableName = "Runner.app"
+               BlueprintName = "Runner"
+               ReferencedContainer = "container:Runner.xcodeproj">
+            </BuildableReference>
+         </BuildActionEntry>
+      </BuildActionEntries>
+   </BuildAction>
+   <TestAction
+      buildConfiguration = "Debug"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      shouldUseLaunchSchemeArgsEnv = "YES">
+      <MacroExpansion>
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "97C146ED1CF9000F007C117D"
+            BuildableName = "Runner.app"
+            BlueprintName = "Runner"
+            ReferencedContainer = "container:Runner.xcodeproj">
+         </BuildableReference>
+      </MacroExpansion>
+      <Testables>
+      </Testables>
+   </TestAction>
+   <LaunchAction
+      buildConfiguration = "Debug"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      launchStyle = "0"
+      useCustomWorkingDirectory = "NO"
+      ignoresPersistentStateOnLaunch = "NO"
+      debugDocumentVersioning = "YES"
+      debugServiceExtension = "internal"
+      allowLocationSimulation = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "97C146ED1CF9000F007C117D"
+            BuildableName = "Runner.app"
+            BlueprintName = "Runner"
+            ReferencedContainer = "container:Runner.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </LaunchAction>
+   <ProfileAction
+      buildConfiguration = "Profile"
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      savedToolIdentifier = ""
+      useCustomWorkingDirectory = "NO"
+      debugDocumentVersioning = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "97C146ED1CF9000F007C117D"
+            BuildableName = "Runner.app"
+            BlueprintName = "Runner"
+            ReferencedContainer = "container:Runner.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </ProfileAction>
+   <AnalyzeAction
+      buildConfiguration = "Debug">
+   </AnalyzeAction>
+   <ArchiveAction
+      buildConfiguration = "Release"
+      revealArchiveInOrganizer = "YES">
+   </ArchiveAction>
+</Scheme>

example/subscriber/ios/Runner.xcworkspace/contents.xcworkspacedata

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "group:Runner.xcodeproj">
+   </FileRef>
+</Workspace>

example/subscriber/ios/Runner.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>

example/subscriber/ios/Runner.xcworkspace/xcshareddata/WorkspaceSettings.xcsettings

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>PreviewsEnabled</key>
+	<false/>
+</dict>
+</plist>

example/subscriber/ios/Runner/AppDelegate.swift

@@ -0,0 +1,13 @@
+import UIKit
+import Flutter
+
+@UIApplicationMain
+@objc class AppDelegate: FlutterAppDelegate {
+  override func application(
+    _ application: UIApplication,
+    didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey: Any]?
+  ) -> Bool {
+    GeneratedPluginRegistrant.register(with: self)
+    return super.application(application, didFinishLaunchingWithOptions: launchOptions)
+  }
+}

example/subscriber/ios/Runner/Assets.xcassets/AppIcon.appiconset/Contents.json

@@ -0,0 +1,122 @@
+{
+  "images" : [
+    {
+      "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-20x20@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-20x20@3x.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-29x29@1x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-29x29@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-29x29@3x.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-40x40@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-40x40@3x.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "60x60",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-60x60@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "60x60",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-60x60@3x.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-20x20@1x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-20x20@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-29x29@1x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-29x29@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-40x40@1x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-40x40@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-76x76@1x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-76x76@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "83.5x83.5",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-83.5x83.5@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "1024x1024",
+      "idiom" : "ios-marketing",
+      "filename" : "Icon-App-1024x1024@1x.png",
+      "scale" : "1x"
+    }
+  ],
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}

example/subscriber/ios/Runner/Assets.xcassets/LaunchImage.imageset/Contents.json

@@ -0,0 +1,23 @@
+{
+  "images" : [
+    {
+      "idiom" : "universal",
+      "filename" : "LaunchImage.png",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "universal",
+      "filename" : "LaunchImage@2x.png",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "universal",
+      "filename" : "LaunchImage@3x.png",
+      "scale" : "3x"
+    }
+  ],
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}

example/subscriber/ios/Runner/Assets.xcassets/LaunchImage.imageset/README.md

@@ -0,0 +1,5 @@
+# Launch Screen Assets
+
+You can customize the launch screen with your own desired assets by replacing the image files in this directory.
+
+You can also do it by opening your Flutter project's Xcode project with `open ios/Runner.xcworkspace`, selecting `Runner/Assets.xcassets` in the Project Navigator and dropping in the desired images.

example/subscriber/ios/Runner/Base.lproj/LaunchScreen.storyboard

@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="12121" systemVersion="16G29" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="12089"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="EHf-IW-A2E">
+            <objects>
+                <viewController id="01J-lp-oVM" sceneMemberID="viewController">
+                    <layoutGuides>
+                        <viewControllerLayoutGuide type="top" id="Ydg-fD-yQy"/>
+                        <viewControllerLayoutGuide type="bottom" id="xbc-2k-c8Z"/>
+                    </layoutGuides>
+                    <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <imageView opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="center" image="LaunchImage" translatesAutoresizingMaskIntoConstraints="NO" id="YRO-k0-Ey4">
+                            </imageView>
+                        </subviews>
+                        <color key="backgroundColor" red="1" green="1" blue="1" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+                        <constraints>
+                            <constraint firstItem="YRO-k0-Ey4" firstAttribute="centerX" secondItem="Ze5-6b-2t3" secondAttribute="centerX" id="1a2-6s-vTC"/>
+                            <constraint firstItem="YRO-k0-Ey4" firstAttribute="centerY" secondItem="Ze5-6b-2t3" secondAttribute="centerY" id="4X2-HB-R7a"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="53" y="375"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="LaunchImage" width="168" height="185"/>
+    </resources>
+</document>

example/subscriber/ios/Runner/Base.lproj/Main.storyboard

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="10117" systemVersion="15F34" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" initialViewController="BYZ-38-t0r">
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="10085"/>
+    </dependencies>
+    <scenes>
+        <!--Flutter View Controller-->
+        <scene sceneID="tne-QT-ifu">
+            <objects>
+                <viewController id="BYZ-38-t0r" customClass="FlutterViewController" sceneMemberID="viewController">
+                    <layoutGuides>
+                        <viewControllerLayoutGuide type="top" id="y3c-jy-aDJ"/>
+                        <viewControllerLayoutGuide type="bottom" id="wfy-db-euE"/>
+                    </layoutGuides>
+                    <view key="view" contentMode="scaleToFill" id="8bC-Xf-vdC">
+                        <rect key="frame" x="0.0" y="0.0" width="600" height="600"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <color key="backgroundColor" white="1" alpha="1" colorSpace="custom" customColorSpace="calibratedWhite"/>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="dkx-z0-nzr" sceneMemberID="firstResponder"/>
+            </objects>
+        </scene>
+    </scenes>
+</document>

example/subscriber/ios/Runner/Info.plist

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>$(DEVELOPMENT_LANGUAGE)</string>
+	<key>CFBundleDisplayName</key>
+	<string>Subscriber</string>
+	<key>CFBundleExecutable</key>
+	<string>$(EXECUTABLE_NAME)</string>
+	<key>CFBundleIdentifier</key>
+	<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>subscriber</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleShortVersionString</key>
+	<string>$(FLUTTER_BUILD_NAME)</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleVersion</key>
+	<string>$(FLUTTER_BUILD_NUMBER)</string>
+	<key>LSRequiresIPhoneOS</key>
+	<true/>
+	<key>UILaunchStoryboardName</key>
+	<string>LaunchScreen</string>
+	<key>UIMainStoryboardFile</key>
+	<string>Main</string>
+	<key>UISupportedInterfaceOrientations</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+	<key>UISupportedInterfaceOrientations~ipad</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationPortraitUpsideDown</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+	<key>UIViewControllerBasedStatusBarAppearance</key>
+	<false/>
+</dict>
+</plist>

example/subscriber/ios/Runner/Runner-Bridging-Header.h

@@ -0,0 +1 @@
+#import "GeneratedPluginRegistrant.h"

example/subscriber/lib/main.dart

@@ -0,0 +1,101 @@
+import 'package:flutter/material.dart';
+import 'package:roslib/roslib.dart';
+
+void main() {
+  runApp(const ExampleApp());
+}
+
+class ExampleApp extends StatelessWidget {
+  const ExampleApp({Key? key}) : super(key: key);
+  @override
+  Widget build(BuildContext context) {
+    return const MaterialApp(
+      title: 'Roslib Example',
+      home: HomePage(),
+    );
+  }
+}
+
+class HomePage extends StatefulWidget {
+  const HomePage({Key? key}) : super(key: key);
+  @override
+  _HomePageState createState() => _HomePageState();
+}
+
+class _HomePageState extends State<HomePage> {
+  late Ros ros;
+  late Topic chatter;
+
+  @override
+  void initState() {
+    ros = Ros(url: 'ws://127.0.0.1:9090');
+    chatter = Topic(
+        ros: ros,
+        name: '/topic',
+        type: "std_msgs/String",
+        reconnectOnClose: true,
+        queueLength: 10,
+        queueSize: 10);
+    super.initState();
+  }
+
+  void initConnection() async {
+    ros.connect();
+    await chatter.subscribe();
+    setState(() {});
+  }
+
+  void destroyConnection() async {
+    await chatter.unsubscribe();
+    await ros.close();
+    setState(() {});
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      appBar: AppBar(
+        title: const Text('Roslib Subscriber Example'),
+      ),
+      body: StreamBuilder<Object>(
+          stream: ros.statusStream,
+          builder: (context, snapshot) {
+            return Center(
+              child: Column(
+                crossAxisAlignment: CrossAxisAlignment.center,
+                mainAxisAlignment: MainAxisAlignment.center,
+                children: <Widget>[
+                  StreamBuilder<Map<String, dynamic>>(
+                    stream: chatter.subscription,
+                    builder: (BuildContext context2,
+                        AsyncSnapshot<Map<String, dynamic>> snapshot2) {
+                      if (snapshot2.hasData && snapshot2.data != null) {
+                        return Text('${snapshot2.data!['msg']}');
+                      } else {
+                        return const CircularProgressIndicator();
+                      }
+                    },
+                  ),
+                  ActionChip(
+                    label: Text(snapshot.data == Status.connected
+                        ? 'DISCONNECT'
+                        : 'CONNECT'),
+                    backgroundColor: snapshot.data == Status.connected
+                        ? Colors.green[300]
+                        : Colors.grey[300],
+                    onPressed: () {
+                      // print(snapshot.data);
+                      if (snapshot.data != Status.connected) {
+                        initConnection();
+                      } else {
+                        destroyConnection();
+                      }
+                    },
+                  ),
+                ],
+              ),
+            );
+          }),
+    );
+  }
+}

example/subscriber/linux/.gitignore

@@ -0,0 +1 @@
+flutter/ephemeral

example/subscriber/linux/CMakeLists.txt

@@ -0,0 +1,116 @@
+cmake_minimum_required(VERSION 3.10)
+project(runner LANGUAGES CXX)
+
+set(BINARY_NAME "subscriber")
+set(APPLICATION_ID "com.example.subscriber")
+
+cmake_policy(SET CMP0063 NEW)
+
+set(CMAKE_INSTALL_RPATH "$ORIGIN/lib")
+
+# Root filesystem for cross-building.
+if(FLUTTER_TARGET_PLATFORM_SYSROOT)
+  set(CMAKE_SYSROOT ${FLUTTER_TARGET_PLATFORM_SYSROOT})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT})
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endif()
+
+# Configure build options.
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE "Debug" CACHE
+    STRING "Flutter build mode" FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Profile" "Release")
+endif()
+
+# Compilation settings that should be applied to most targets.
+function(APPLY_STANDARD_SETTINGS TARGET)
+  target_compile_features(${TARGET} PUBLIC cxx_std_14)
+  target_compile_options(${TARGET} PRIVATE -Wall -Werror)
+  target_compile_options(${TARGET} PRIVATE "$<$<NOT:$<CONFIG:Debug>>:-O3>")
+  target_compile_definitions(${TARGET} PRIVATE "$<$<NOT:$<CONFIG:Debug>>:NDEBUG>")
+endfunction()
+
+set(FLUTTER_MANAGED_DIR "${CMAKE_CURRENT_SOURCE_DIR}/flutter")
+
+# Flutter library and tool build rules.
+add_subdirectory(${FLUTTER_MANAGED_DIR})
+
+# System-level dependencies.
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GTK REQUIRED IMPORTED_TARGET gtk+-3.0)
+
+add_definitions(-DAPPLICATION_ID="${APPLICATION_ID}")
+
+# Application build
+add_executable(${BINARY_NAME}
+  "main.cc"
+  "my_application.cc"
+  "${FLUTTER_MANAGED_DIR}/generated_plugin_registrant.cc"
+)
+apply_standard_settings(${BINARY_NAME})
+target_link_libraries(${BINARY_NAME} PRIVATE flutter)
+target_link_libraries(${BINARY_NAME} PRIVATE PkgConfig::GTK)
+add_dependencies(${BINARY_NAME} flutter_assemble)
+# Only the install-generated bundle's copy of the executable will launch
+# correctly, since the resources must in the right relative locations. To avoid
+# people trying to run the unbundled copy, put it in a subdirectory instead of
+# the default top-level location.
+set_target_properties(${BINARY_NAME}
+  PROPERTIES
+  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/intermediates_do_not_run"
+)
+
+# Generated plugin build rules, which manage building the plugins and adding
+# them to the application.
+include(flutter/generated_plugins.cmake)
+
+
+# === Installation ===
+# By default, "installing" just makes a relocatable bundle in the build
+# directory.
+set(BUILD_BUNDLE_DIR "${PROJECT_BINARY_DIR}/bundle")
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  set(CMAKE_INSTALL_PREFIX "${BUILD_BUNDLE_DIR}" CACHE PATH "..." FORCE)
+endif()
+
+# Start with a clean build bundle directory every time.
+install(CODE "
+  file(REMOVE_RECURSE \"${BUILD_BUNDLE_DIR}/\")
+  " COMPONENT Runtime)
+
+set(INSTALL_BUNDLE_DATA_DIR "${CMAKE_INSTALL_PREFIX}/data")
+set(INSTALL_BUNDLE_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+
+install(TARGETS ${BINARY_NAME} RUNTIME DESTINATION "${CMAKE_INSTALL_PREFIX}"
+  COMPONENT Runtime)
+
+install(FILES "${FLUTTER_ICU_DATA_FILE}" DESTINATION "${INSTALL_BUNDLE_DATA_DIR}"
+  COMPONENT Runtime)
+
+install(FILES "${FLUTTER_LIBRARY}" DESTINATION "${INSTALL_BUNDLE_LIB_DIR}"
+  COMPONENT Runtime)
+
+if(PLUGIN_BUNDLED_LIBRARIES)
+  install(FILES "${PLUGIN_BUNDLED_LIBRARIES}"
+    DESTINATION "${INSTALL_BUNDLE_LIB_DIR}"
+    COMPONENT Runtime)
+endif()
+
+# Fully re-copy the assets directory on each build to avoid having stale files
+# from a previous install.
+set(FLUTTER_ASSET_DIR_NAME "flutter_assets")
+install(CODE "
+  file(REMOVE_RECURSE \"${INSTALL_BUNDLE_DATA_DIR}/${FLUTTER_ASSET_DIR_NAME}\")
+  " COMPONENT Runtime)
+install(DIRECTORY "${PROJECT_BUILD_DIR}/${FLUTTER_ASSET_DIR_NAME}"
+  DESTINATION "${INSTALL_BUNDLE_DATA_DIR}" COMPONENT Runtime)
+
+# Install the AOT library on non-Debug builds only.
+if(NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+  install(FILES "${AOT_LIBRARY}" DESTINATION "${INSTALL_BUNDLE_LIB_DIR}"
+    COMPONENT Runtime)
+endif()

example/subscriber/linux/flutter/CMakeLists.txt

@@ -0,0 +1,87 @@
+cmake_minimum_required(VERSION 3.10)
+
+set(EPHEMERAL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ephemeral")
+
+# Configuration provided via flutter tool.
+include(${EPHEMERAL_DIR}/generated_config.cmake)
+
+# TODO: Move the rest of this into files in ephemeral. See
+# https://github.com/flutter/flutter/issues/57146.
+
+# Serves the same purpose as list(TRANSFORM ... PREPEND ...),
+# which isn't available in 3.10.
+function(list_prepend LIST_NAME PREFIX)
+    set(NEW_LIST "")
+    foreach(element ${${LIST_NAME}})
+        list(APPEND NEW_LIST "${PREFIX}${element}")
+    endforeach(element)
+    set(${LIST_NAME} "${NEW_LIST}" PARENT_SCOPE)
+endfunction()
+
+# === Flutter Library ===
+# System-level dependencies.
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GTK REQUIRED IMPORTED_TARGET gtk+-3.0)
+pkg_check_modules(GLIB REQUIRED IMPORTED_TARGET glib-2.0)
+pkg_check_modules(GIO REQUIRED IMPORTED_TARGET gio-2.0)
+
+set(FLUTTER_LIBRARY "${EPHEMERAL_DIR}/libflutter_linux_gtk.so")
+
+# Published to parent scope for install step.
+set(FLUTTER_LIBRARY ${FLUTTER_LIBRARY} PARENT_SCOPE)
+set(FLUTTER_ICU_DATA_FILE "${EPHEMERAL_DIR}/icudtl.dat" PARENT_SCOPE)
+set(PROJECT_BUILD_DIR "${PROJECT_DIR}/build/" PARENT_SCOPE)
+set(AOT_LIBRARY "${PROJECT_DIR}/build/lib/libapp.so" PARENT_SCOPE)
+
+list(APPEND FLUTTER_LIBRARY_HEADERS
+  "fl_basic_message_channel.h"
+  "fl_binary_codec.h"
+  "fl_binary_messenger.h"
+  "fl_dart_project.h"
+  "fl_engine.h"
+  "fl_json_message_codec.h"
+  "fl_json_method_codec.h"
+  "fl_message_codec.h"
+  "fl_method_call.h"
+  "fl_method_channel.h"
+  "fl_method_codec.h"
+  "fl_method_response.h"
+  "fl_plugin_registrar.h"
+  "fl_plugin_registry.h"
+  "fl_standard_message_codec.h"
+  "fl_standard_method_codec.h"
+  "fl_string_codec.h"
+  "fl_value.h"
+  "fl_view.h"
+  "flutter_linux.h"
+)
+list_prepend(FLUTTER_LIBRARY_HEADERS "${EPHEMERAL_DIR}/flutter_linux/")
+add_library(flutter INTERFACE)
+target_include_directories(flutter INTERFACE
+  "${EPHEMERAL_DIR}"
+)
+target_link_libraries(flutter INTERFACE "${FLUTTER_LIBRARY}")
+target_link_libraries(flutter INTERFACE
+  PkgConfig::GTK
+  PkgConfig::GLIB
+  PkgConfig::GIO
+)
+add_dependencies(flutter flutter_assemble)
+
+# === Flutter tool backend ===
+# _phony_ is a non-existent file to force this command to run every time,
+# since currently there's no way to get a full input/output list from the
+# flutter tool.
+add_custom_command(
+  OUTPUT ${FLUTTER_LIBRARY} ${FLUTTER_LIBRARY_HEADERS}
+    ${CMAKE_CURRENT_BINARY_DIR}/_phony_
+  COMMAND ${CMAKE_COMMAND} -E env
+    ${FLUTTER_TOOL_ENVIRONMENT}
+    "${FLUTTER_ROOT}/packages/flutter_tools/bin/tool_backend.sh"
+      ${FLUTTER_TARGET_PLATFORM} ${CMAKE_BUILD_TYPE}
+  VERBATIM
+)
+add_custom_target(flutter_assemble DEPENDS
+  "${FLUTTER_LIBRARY}"
+  ${FLUTTER_LIBRARY_HEADERS}
+)

example/subscriber/linux/flutter/generated_plugin_registrant.cc

@@ -0,0 +1,11 @@
+//
+//  Generated file. Do not edit.
+//
+
+// clang-format off
+
+#include "generated_plugin_registrant.h"
+
+
+void fl_register_plugins(FlPluginRegistry* registry) {
+}

example/subscriber/linux/flutter/generated_plugin_registrant.h

@@ -0,0 +1,15 @@
+//
+//  Generated file. Do not edit.
+//
+
+// clang-format off
+
+#ifndef GENERATED_PLUGIN_REGISTRANT_
+#define GENERATED_PLUGIN_REGISTRANT_
+
+#include <flutter_linux/flutter_linux.h>
+
+// Registers Flutter plugins.
+void fl_register_plugins(FlPluginRegistry* registry);
+
+#endif  // GENERATED_PLUGIN_REGISTRANT_

example/subscriber/linux/flutter/generated_plugins.cmake

@@ -0,0 +1,15 @@
+#
+# Generated file, do not edit.
+#
+
+list(APPEND FLUTTER_PLUGIN_LIST
+)
+
+set(PLUGIN_BUNDLED_LIBRARIES)
+
+foreach(plugin ${FLUTTER_PLUGIN_LIST})
+  add_subdirectory(flutter/ephemeral/.plugin_symlinks/${plugin}/linux plugins/${plugin})
+  target_link_libraries(${BINARY_NAME} PRIVATE ${plugin}_plugin)
+  list(APPEND PLUGIN_BUNDLED_LIBRARIES $<TARGET_FILE:${plugin}_plugin>)
+  list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${plugin}_bundled_libraries})
+endforeach(plugin)

example/subscriber/linux/main.cc

@@ -0,0 +1,6 @@
+#include "my_application.h"
+
+int main(int argc, char** argv) {
+  g_autoptr(MyApplication) app = my_application_new();
+  return g_application_run(G_APPLICATION(app), argc, argv);
+}

example/subscriber/linux/my_application.cc

@@ -0,0 +1,104 @@
+#include "my_application.h"
+
+#include <flutter_linux/flutter_linux.h>
+#ifdef GDK_WINDOWING_X11
+#include <gdk/gdkx.h>
+#endif
+
+#include "flutter/generated_plugin_registrant.h"
+
+struct _MyApplication {
+  GtkApplication parent_instance;
+  char** dart_entrypoint_arguments;
+};
+
+G_DEFINE_TYPE(MyApplication, my_application, GTK_TYPE_APPLICATION)
+
+// Implements GApplication::activate.
+static void my_application_activate(GApplication* application) {
+  MyApplication* self = MY_APPLICATION(application);
+  GtkWindow* window =
+      GTK_WINDOW(gtk_application_window_new(GTK_APPLICATION(application)));
+
+  // Use a header bar when running in GNOME as this is the common style used
+  // by applications and is the setup most users will be using (e.g. Ubuntu
+  // desktop).
+  // If running on X and not using GNOME then just use a traditional title bar
+  // in case the window manager does more exotic layout, e.g. tiling.
+  // If running on Wayland assume the header bar will work (may need changing
+  // if future cases occur).
+  gboolean use_header_bar = TRUE;
+#ifdef GDK_WINDOWING_X11
+  GdkScreen* screen = gtk_window_get_screen(window);
+  if (GDK_IS_X11_SCREEN(screen)) {
+    const gchar* wm_name = gdk_x11_screen_get_window_manager_name(screen);
+    if (g_strcmp0(wm_name, "GNOME Shell") != 0) {
+      use_header_bar = FALSE;
+    }
+  }
+#endif
+  if (use_header_bar) {
+    GtkHeaderBar* header_bar = GTK_HEADER_BAR(gtk_header_bar_new());
+    gtk_widget_show(GTK_WIDGET(header_bar));
+    gtk_header_bar_set_title(header_bar, "subscriber");
+    gtk_header_bar_set_show_close_button(header_bar, TRUE);
+    gtk_window_set_titlebar(window, GTK_WIDGET(header_bar));
+  } else {
+    gtk_window_set_title(window, "subscriber");
+  }
+
+  gtk_window_set_default_size(window, 1280, 720);
+  gtk_widget_show(GTK_WIDGET(window));
+
+  g_autoptr(FlDartProject) project = fl_dart_project_new();
+  fl_dart_project_set_dart_entrypoint_arguments(project, self->dart_entrypoint_arguments);
+
+  FlView* view = fl_view_new(project);
+  gtk_widget_show(GTK_WIDGET(view));
+  gtk_container_add(GTK_CONTAINER(window), GTK_WIDGET(view));
+
+  fl_register_plugins(FL_PLUGIN_REGISTRY(view));
+
+  gtk_widget_grab_focus(GTK_WIDGET(view));
+}
+
+// Implements GApplication::local_command_line.
+static gboolean my_application_local_command_line(GApplication* application, gchar*** arguments, int* exit_status) {
+  MyApplication* self = MY_APPLICATION(application);
+  // Strip out the first argument as it is the binary name.
+  self->dart_entrypoint_arguments = g_strdupv(*arguments + 1);
+
+  g_autoptr(GError) error = nullptr;
+  if (!g_application_register(application, nullptr, &error)) {
+     g_warning("Failed to register: %s", error->message);
+     *exit_status = 1;
+     return TRUE;
+  }
+
+  g_application_activate(application);
+  *exit_status = 0;
+
+  return TRUE;
+}
+
+// Implements GObject::dispose.
+static void my_application_dispose(GObject* object) {
+  MyApplication* self = MY_APPLICATION(object);
+  g_clear_pointer(&self->dart_entrypoint_arguments, g_strfreev);
+  G_OBJECT_CLASS(my_application_parent_class)->dispose(object);
+}
+
+static void my_application_class_init(MyApplicationClass* klass) {
+  G_APPLICATION_CLASS(klass)->activate = my_application_activate;
+  G_APPLICATION_CLASS(klass)->local_command_line = my_application_local_command_line;
+  G_OBJECT_CLASS(klass)->dispose = my_application_dispose;
+}
+
+static void my_application_init(MyApplication* self) {}
+
+MyApplication* my_application_new() {
+  return MY_APPLICATION(g_object_new(my_application_get_type(),
+                                     "application-id", APPLICATION_ID,
+                                     "flags", G_APPLICATION_NON_UNIQUE,
+                                     nullptr));
+}

example/subscriber/linux/my_application.h

@@ -0,0 +1,18 @@
+#ifndef FLUTTER_MY_APPLICATION_H_
+#define FLUTTER_MY_APPLICATION_H_
+
+#include <gtk/gtk.h>
+
+G_DECLARE_FINAL_TYPE(MyApplication, my_application, MY, APPLICATION,
+                     GtkApplication)
+
+/**
+ * my_application_new:
+ *
+ * Creates a new Flutter-based application.
+ *
+ * Returns: a new #MyApplication.
+ */
+MyApplication* my_application_new();
+
+#endif  // FLUTTER_MY_APPLICATION_H_

example/subscriber/pubspec.yaml

@@ -0,0 +1,91 @@
+name: subscriber
+description: A new Flutter project.
+
+# The following line prevents the package from being accidentally published to
+# pub.dev using `flutter pub publish`. This is preferred for private packages.
+publish_to: 'none' # Remove this line if you wish to publish to pub.dev
+
+# The following defines the version and build number for your application.
+# A version number is three numbers separated by dots, like 1.2.43
+# followed by an optional build number separated by a +.
+# Both the version and the builder number may be overridden in flutter
+# build by specifying --build-name and --build-number, respectively.
+# In Android, build-name is used as versionName while build-number used as versionCode.
+# Read more about Android versioning at https://developer.android.com/studio/publish/versioning
+# In iOS, build-name is used as CFBundleShortVersionString while build-number used as CFBundleVersion.
+# Read more about iOS versioning at
+# https://developer.apple.com/library/archive/documentation/General/Reference/InfoPlistKeyReference/Articles/CoreFoundationKeys.html
+version: 1.0.0+1
+
+environment:
+  sdk: ">=2.16.0-134.5.beta <3.0.0"
+
+# Dependencies specify other packages that your package needs in order to work.
+# To automatically upgrade your package dependencies to the latest versions
+# consider running `flutter pub upgrade --major-versions`. Alternatively,
+# dependencies can be manually updated by changing the version numbers below to
+# the latest version available on pub.dev. To see which dependencies have newer
+# versions available, run `flutter pub outdated`.
+dependencies:
+  flutter:
+    sdk: flutter
+  roslib: ^0.0.3
+
+  # The following adds the Cupertino Icons font to your application.
+  # Use with the CupertinoIcons class for iOS style icons.
+  cupertino_icons: ^1.0.2
+
+dev_dependencies:
+  flutter_test:
+    sdk: flutter
+
+  # The "flutter_lints" package below contains a set of recommended lints to
+  # encourage good coding practices. The lint set provided by the package is
+  # activated in the `analysis_options.yaml` file located at the root of your
+  # package. See that file for information about deactivating specific lint
+  # rules and activating additional ones.
+  flutter_lints: ^1.0.0
+dependency_overrides:
+  roslib:
+    path: ../../
+# For information on the generic Dart part of this file, see the
+# following page: https://dart.dev/tools/pub/pubspec
+
+# The following section is specific to Flutter.
+flutter:
+
+  # The following line ensures that the Material Icons font is
+  # included with your application, so that you can use the icons in
+  # the material Icons class.
+  uses-material-design: true
+
+  # To add assets to your application, add an assets section, like this:
+  # assets:
+  #   - images/a_dot_burr.jpeg
+  #   - images/a_dot_ham.jpeg
+
+  # An image asset can refer to one or more resolution-specific "variants", see
+  # https://flutter.dev/assets-and-images/#resolution-aware.
+
+  # For details regarding adding assets from package dependencies, see
+  # https://flutter.dev/assets-and-images/#from-packages
+
+  # To add custom fonts to your application, add a fonts section here,
+  # in this "flutter" section. Each entry in this list should have a
+  # "family" key with the font family name, and a "fonts" key with a
+  # list giving the asset and other descriptors for the font. For
+  # example:
+  # fonts:
+  #   - family: Schyler
+  #     fonts:
+  #       - asset: fonts/Schyler-Regular.ttf
+  #       - asset: fonts/Schyler-Italic.ttf
+  #         style: italic
+  #   - family: Trajan Pro
+  #     fonts:
+  #       - asset: fonts/TrajanPro.ttf
+  #       - asset: fonts/TrajanPro_Bold.ttf
+  #         weight: 700
+  #
+  # For details regarding fonts from package dependencies,
+  # see https://flutter.dev/custom-fonts/#from-packages

example/subscriber/test/widget_test.dart

@@ -0,0 +1,30 @@
+// This is a basic Flutter widget test.
+//
+// To perform an interaction with a widget in your test, use the WidgetTester
+// utility that Flutter provides. For example, you can send tap and scroll
+// gestures. You can also use WidgetTester to find child widgets in the widget
+// tree, read text, and verify that the values of widget properties are correct.
+
+import 'package:flutter/material.dart';
+import 'package:flutter_test/flutter_test.dart';
+
+import 'package:subscriber/main.dart';
+
+void main() {
+  testWidgets('Counter increments smoke test', (WidgetTester tester) async {
+    // Build our app and trigger a frame.
+    await tester.pumpWidget(const MyApp());
+
+    // Verify that our counter starts at 0.
+    expect(find.text('0'), findsOneWidget);
+    expect(find.text('1'), findsNothing);
+
+    // Tap the '+' icon and trigger a frame.
+    await tester.tap(find.byIcon(Icons.add));
+    await tester.pump();
+
+    // Verify that our counter has incremented.
+    expect(find.text('0'), findsNothing);
+    expect(find.text('1'), findsOneWidget);
+  });
+}

example/subscriber/web/index.html

@@ -0,0 +1,104 @@
+<!DOCTYPE html>
+<html>
+<head>
+  <!--
+    If you are serving your web app in a path other than the root, change the
+    href value below to reflect the base path you are serving from.
+
+    The path provided below has to start and end with a slash "/" in order for
+    it to work correctly.
+
+    For more details:
+    * https://developer.mozilla.org/en-US/docs/Web/HTML/Element/base
+
+    This is a placeholder for base href that will be replaced by the value of
+    the `--base-href` argument provided to `flutter build`.
+  -->
+  <base href="$FLUTTER_BASE_HREF">
+
+  <meta charset="UTF-8">
+  <meta content="IE=Edge" http-equiv="X-UA-Compatible">
+  <meta name="description" content="A new Flutter project.">
+
+  <!-- iOS meta tags & icons -->
+  <meta name="apple-mobile-web-app-capable" content="yes">
+  <meta name="apple-mobile-web-app-status-bar-style" content="black">
+  <meta name="apple-mobile-web-app-title" content="subscriber">
+  <link rel="apple-touch-icon" href="icons/Icon-192.png">
+
+  <!-- Favicon -->
+  <link rel="icon" type="image/png" href="favicon.png"/>
+
+  <title>subscriber</title>
+  <link rel="manifest" href="manifest.json">
+</head>
+<body>
+  <!-- This script installs service_worker.js to provide PWA functionality to
+       application. For more information, see:
+       https://developers.google.com/web/fundamentals/primers/service-workers -->
+  <script>
+    var serviceWorkerVersion = null;
+    var scriptLoaded = false;
+    function loadMainDartJs() {
+      if (scriptLoaded) {
+        return;
+      }
+      scriptLoaded = true;
+      var scriptTag = document.createElement('script');
+      scriptTag.src = 'main.dart.js';
+      scriptTag.type = 'application/javascript';
+      document.body.append(scriptTag);
+    }
+
+    if ('serviceWorker' in navigator) {
+      // Service workers are supported. Use them.
+      window.addEventListener('load', function () {
+        // Wait for registration to finish before dropping the <script> tag.
+        // Otherwise, the browser will load the script multiple times,
+        // potentially different versions.
+        var serviceWorkerUrl = 'flutter_service_worker.js?v=' + serviceWorkerVersion;
+        navigator.serviceWorker.register(serviceWorkerUrl)
+          .then((reg) => {
+            function waitForActivation(serviceWorker) {
+              serviceWorker.addEventListener('statechange', () => {
+                if (serviceWorker.state == 'activated') {
+                  console.log('Installed new service worker.');
+                  loadMainDartJs();
+                }
+              });
+            }
+            if (!reg.active && (reg.installing || reg.waiting)) {
+              // No active web worker and we have installed or are installing
+              // one for the first time. Simply wait for it to activate.
+              waitForActivation(reg.installing || reg.waiting);
+            } else if (!reg.active.scriptURL.endsWith(serviceWorkerVersion)) {
+              // When the app updates the serviceWorkerVersion changes, so we
+              // need to ask the service worker to update.
+              console.log('New service worker available.');
+              reg.update();
+              waitForActivation(reg.installing);
+            } else {
+              // Existing service worker is still good.
+              console.log('Loading app from service worker.');
+              loadMainDartJs();
+            }
+          });
+
+        // If service worker doesn't succeed in a reasonable amount of time,
+        // fallback to plaint <script> tag.
+        setTimeout(() => {
+          if (!scriptLoaded) {
+            console.warn(
+              'Failed to load app from service worker. Falling back to plain <script> tag.',
+            );
+            loadMainDartJs();
+          }
+        }, 4000);
+      });
+    } else {
+      // Service workers not supported. Just drop the <script> tag.
+      loadMainDartJs();
+    }
+  </script>
+</body>
+</html>

example/subscriber/web/manifest.json

@@ -0,0 +1,35 @@
+{
+    "name": "subscriber",
+    "short_name": "subscriber",
+    "start_url": ".",
+    "display": "standalone",
+    "background_color": "#0175C2",
+    "theme_color": "#0175C2",
+    "description": "A new Flutter project.",
+    "orientation": "portrait-primary",
+    "prefer_related_applications": false,
+    "icons": [
+        {
+            "src": "icons/Icon-192.png",
+            "sizes": "192x192",
+            "type": "image/png"
+        },
+        {
+            "src": "icons/Icon-512.png",
+            "sizes": "512x512",
+            "type": "image/png"
+        },
+        {
+            "src": "icons/Icon-maskable-192.png",
+            "sizes": "192x192",
+            "type": "image/png",
+            "purpose": "maskable"
+        },
+        {
+            "src": "icons/Icon-maskable-512.png",
+            "sizes": "512x512",
+            "type": "image/png",
+            "purpose": "maskable"
+        }
+    ]
+}