Add an API for an RMW implementation to check if an event type is supported

[Yadunund]

An RMW implementation does not need to support all the event types in rmw_event_type_t. But there are several tests in our CI that validate whether the mechanism to handle events is supported. In such tests, we could either have the RMW return a list of events that it supports or rely on a new API to validate whether an event type is supported by the RMW before proceeding to test with the event type.

[ahcorde]

We already have zenoh_event_from_rmw_event() which I think this might be helpful, where you can ask if a event is supported by the rmw.

[ahcorde]

but this is not exposed in rmw_implementation. I will create something like rmw_supported_events()

[ahcorde]

Related PRs

• Added rmw_event_type_is_supported #395
• Added rmw_event_type_is_supported rmw_implementation#250
• Added rmw_event_type_is_supported rmw_cyclonedds#532
• Added rmw_event_type_is_supported rmw_fastrtps#809
• Added rmw_event_type_is_supported rmw_connextdds#173
• Added rmw_event_type_is_supported rmw_zenoh#502

[fujitatomoya]

this interface sounds reasonable.
we do not need it now but could be exposed to client layer so that we can call this when adding the event handlers.