Added rmw_event_type_is_supported (#250) (#252)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Author: ahcorde

rmw_implementation/src/functions.cpp

@@ -757,6 +757,12 @@ RMW_INTERFACE_FN(
   1, ARG_TYPES(
     rmw_feature_t))
 
+RMW_INTERFACE_FN(
+  rmw_event_type_is_supported,
+  bool, RMW_EVENT_INVALID,
+  1, ARG_TYPES(
+    rmw_event_type_t))
+
 RMW_INTERFACE_FN(
   rmw_take_dynamic_message,
   rmw_ret_t, RMW_RET_ERROR,
@@ -841,6 +847,7 @@ void prefetch_symbols(void)
   GET_SYMBOL(rmw_take_request)
   GET_SYMBOL(rmw_send_response)
   GET_SYMBOL(rmw_take_event)
+  GET_SYMBOL(rmw_event_type_is_supported)
   GET_SYMBOL(rmw_create_guard_condition)
   GET_SYMBOL(rmw_destroy_guard_condition)
   GET_SYMBOL(rmw_trigger_guard_condition)
@@ -999,6 +1006,7 @@ unload_library()
   symbol_rmw_client_set_on_new_response_callback = nullptr;
   symbol_rmw_event_set_callback = nullptr;
   symbol_rmw_feature_supported = nullptr;
+  symbol_rmw_event_type_is_supported = nullptr;
   symbol_rmw_take_dynamic_message = nullptr;
   symbol_rmw_take_dynamic_message_with_info = nullptr;
   symbol_rmw_serialization_support_init = nullptr;

test_rmw_implementation/test/test_wait_set.cpp

@@ -118,9 +118,7 @@ class TestWaitSetUse : public TestWaitSet
     client = rmw_create_client(node, service_ts, service_name, &rmw_qos_profile_default);
     ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
     rmw_ret_t ret = RMW_RET_OK;
-    // rmw_zenoh does not support RMW_EVENT_LIVELINESS_CHANGED.
-    // TODO(Yadunund): Rely on API suggested in https://github.com/ros2/rmw/issues/394 instead.
-    if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    if (!rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED)) {
       ret = rmw_subscription_event_init(&event, sub, RMW_EVENT_PUBLICATION_MATCHED);
     } else {
       ret = rmw_subscription_event_init(&event, sub, RMW_EVENT_LIVELINESS_CHANGED);