add rcl_publisher/subscription_event_type_is_supported().

rcl/include/rcl/event.h

@@ -203,6 +203,54 @@ RCL_PUBLIC
 bool
 rcl_event_is_valid(const rcl_event_t * event);
 
+/// Check if a publisher event type is supported by the active RMW implementation.
+/**
+ * This API allows application code to introspect at runtime whether a
+ * particular publisher event type is supported by the currently loaded
+ * RMW implementation, enabling portable code that adapts gracefully
+ * when switching between RMW implementations.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] event_type the publisher event type to check
+ * \return `true` if the event type is supported, `false` otherwise
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+bool
+rcl_publisher_event_type_is_supported(
+  const rcl_publisher_event_type_t event_type);
+
+/// Check if a subscription event type is supported by the active RMW implementation.
+/**
+ * This API allows application code to introspect at runtime whether a
+ * particular subscription event type is supported by the currently loaded
+ * RMW implementation, enabling portable code that adapts gracefully
+ * when switching between RMW implementations.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] event_type the subscription event type to check
+ * \return `true` if the event type is supported, `false` otherwise
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+bool
+rcl_subscription_event_type_is_supported(
+  const rcl_subscription_event_type_t event_type);
+
 /// Set the callback function for the event.
 /**
  * This API sets the callback function to be called whenever the

rcl/src/rcl/event.c

@@ -233,6 +233,65 @@ rcl_event_is_valid(const rcl_event_t * event)
   return true;
 }
 
+bool
+rcl_publisher_event_type_is_supported(
+  const rcl_publisher_event_type_t event_type)
+{
+  rmw_event_type_t rmw_event_type = RMW_EVENT_INVALID;
+  switch (event_type) {
+    case RCL_PUBLISHER_OFFERED_DEADLINE_MISSED:
+      rmw_event_type = RMW_EVENT_OFFERED_DEADLINE_MISSED;
+      break;
+    case RCL_PUBLISHER_LIVELINESS_LOST:
+      rmw_event_type = RMW_EVENT_LIVELINESS_LOST;
+      break;
+    case RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS:
+      rmw_event_type = RMW_EVENT_OFFERED_QOS_INCOMPATIBLE;
+      break;
+    case RCL_PUBLISHER_INCOMPATIBLE_TYPE:
+      rmw_event_type = RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE;
+      break;
+    case RCL_PUBLISHER_MATCHED:
+      rmw_event_type = RMW_EVENT_PUBLICATION_MATCHED;
+      break;
+  }
+  if (rmw_event_type == RMW_EVENT_INVALID) {
+    return false;
+  }
+  return rmw_event_type_is_supported(rmw_event_type);
+}
+
+bool
+rcl_subscription_event_type_is_supported(
+  const rcl_subscription_event_type_t event_type)
+{
+  rmw_event_type_t rmw_event_type = RMW_EVENT_INVALID;
+  switch (event_type) {
+    case RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED:
+      rmw_event_type = RMW_EVENT_REQUESTED_DEADLINE_MISSED;
+      break;
+    case RCL_SUBSCRIPTION_LIVELINESS_CHANGED:
+      rmw_event_type = RMW_EVENT_LIVELINESS_CHANGED;
+      break;
+    case RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS:
+      rmw_event_type = RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE;
+      break;
+    case RCL_SUBSCRIPTION_MESSAGE_LOST:
+      rmw_event_type = RMW_EVENT_MESSAGE_LOST;
+      break;
+    case RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE:
+      rmw_event_type = RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE;
+      break;
+    case RCL_SUBSCRIPTION_MATCHED:
+      rmw_event_type = RMW_EVENT_SUBSCRIPTION_MATCHED;
+      break;
+  }
+  if (rmw_event_type == RMW_EVENT_INVALID) {
+    return false;
+  }
+  return rmw_event_type_is_supported(rmw_event_type);
+}
+
 rcl_ret_t
 rcl_event_set_callback(
   const rcl_event_t * event,

rcl/test/rcl/test_events.cpp

@@ -826,7 +826,7 @@ TEST_F(TestEventFixture, test_event_is_invalid) {
  */
 TEST_F(TestEventFixture, test_sub_message_lost_event)
 {
-  if (!rmw_event_type_is_supported(RMW_EVENT_MESSAGE_LOST)) {
+  if (!rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_MESSAGE_LOST)) {
     GTEST_SKIP();
   }
 
@@ -1351,3 +1351,52 @@ TEST_F(TestEventFixture, test_sub_previous_matched_event)
   // So check if event count >= 1.
   EXPECT_GE(*matched_data.event_count, 1);
 }
+
+/*
+ * Test rcl_publisher_event_type_is_supported
+ */
+TEST_F(TestEventFixture, test_publisher_event_type_is_supported)
+{
+  // Verify rcl results are consistent with the underlying rmw results
+  EXPECT_EQ(
+    rcl_publisher_event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
+    rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED));
+  EXPECT_EQ(
+    rcl_publisher_event_type_is_supported(RCL_PUBLISHER_LIVELINESS_LOST),
+    rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_LOST));
+  EXPECT_EQ(
+    rcl_publisher_event_type_is_supported(RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS),
+    rmw_event_type_is_supported(RMW_EVENT_OFFERED_QOS_INCOMPATIBLE));
+  EXPECT_EQ(
+    rcl_publisher_event_type_is_supported(RCL_PUBLISHER_INCOMPATIBLE_TYPE),
+    rmw_event_type_is_supported(RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE));
+  EXPECT_EQ(
+    rcl_publisher_event_type_is_supported(RCL_PUBLISHER_MATCHED),
+    rmw_event_type_is_supported(RMW_EVENT_PUBLICATION_MATCHED));
+}
+
+/*
+ * Test rcl_subscription_event_type_is_supported
+ */
+TEST_F(TestEventFixture, test_subscription_event_type_is_supported)
+{
+  // Verify rcl results are consistent with the underlying rmw results
+  EXPECT_EQ(
+    rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED),
+    rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED));
+  EXPECT_EQ(
+    rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_LIVELINESS_CHANGED),
+    rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED));
+  EXPECT_EQ(
+    rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS),
+    rmw_event_type_is_supported(RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE));
+  EXPECT_EQ(
+    rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_MESSAGE_LOST),
+    rmw_event_type_is_supported(RMW_EVENT_MESSAGE_LOST));
+  EXPECT_EQ(
+    rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE),
+    rmw_event_type_is_supported(RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE));
+  EXPECT_EQ(
+    rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_MATCHED),
+    rmw_event_type_is_supported(RMW_EVENT_SUBSCRIPTION_MATCHED));
+}