Set callbacks

Signed-off-by: Yadunund <[email protected]>

.github/workflows/style.yaml

@@ -17,5 +17,7 @@ jobs:
     timeout-minutes: 30
     steps:
     - uses: actions/checkout@v2
-    - name: style
+    - name: uncrustify
       run: /ros_entrypoint.sh ament_uncrustify rmw_zenoh_cpp/
+    - name: cpplint
+      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/

rmw_zenoh_cpp/src/detail/event.hpp

@@ -0,0 +1,52 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DETAIL__EVENT_HPP_
+#define DETAIL__EVENT_HPP_
+
+#include <unordered_map>
+
+#include "rmw/event.h"
+
+///=============================================================================
+// RMW Event types that we support in rmw_zenoh.
+enum rmw_zenoh_event_type_t
+{
+  // sentinel value
+  ZENOH_EVENT_INVALID,
+
+  // subscription events
+  ZENOH_EVENT_REQUESTED_QOS_INCOMPATIBLE,
+  // RMW_EVENT_MESSAGE_LOST,
+  // RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE,
+  // RMW_EVENT_SUBSCRIPTION_MATCHED,
+
+  // publisher events
+  // RMW_EVENT_LIVELINESS_LOST,
+  // RMW_EVENT_OFFERED_DEADLINE_MISSED,
+  ZENOH_EVENT_OFFERED_QOS_INCOMPATIBLE
+  // RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE,
+  // RMW_EVENT_PUBLICATION_MATCHED,
+};
+
+/// Helper value to indicate the maximum index of events supported.
+#define ZENOH_EVENT_ID_MAX rmw_zenoh_event_type_t::ZENOH_EVENT_OFFERED_QOS_INCOMPATIBLE
+
+static const std::unordered_map<rmw_event_type_t, rmw_zenoh_event_type_t> event_map{
+  {RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE, ZENOH_EVENT_REQUESTED_QOS_INCOMPATIBLE},
+  {RMW_EVENT_OFFERED_QOS_INCOMPATIBLE, ZENOH_EVENT_OFFERED_QOS_INCOMPATIBLE},
+  // TODO(clalancette): Implement remaining events
+};
+
+#endif  // DETAIL__EVENT_HPP_

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -23,6 +23,7 @@
 #include <unordered_set>
 #include <vector>
 
+#include "event.hpp"
 #include "liveliness_utils.hpp"
 
 #include "rcutils/allocator.h"