New interfaces and their implementations for QoS features (#408)

* implement rcl_wait and rcl_take for rcl_event_t

Signed-off-by: Miaofei <miaofei@amazon.com>

* address feedback regarding formatting issues

Signed-off-by: Miaofei <miaofei@amazon.com>

* Remove dependency on sleep in test_events

Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>

* update total max wait time for setting up publisher and subscriber to 10 seconds

Signed-off-by: Miaofei <miaofei@amazon.com>

* Fix test_events for rmw_connext

Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>

* Refactor out timed loop from tests to function

Signed-off-by: Miaofei <miaofei@amazon.com>

* address additional feedback from pull request

Signed-off-by: Miaofei <miaofei@amazon.com>

* update comment regarding difference between connext and opensplice

Signed-off-by: Miaofei <miaofei@amazon.com>

* fix uncrustify issues

Signed-off-by: Miaofei <miaofei@amazon.com>

* update test_events for compatibility with API changes

Signed-off-by: Miaofei <miaofei@amazon.com>

* temporarily disable test_events for macOS

Signed-off-by: Miaofei <miaofei@amazon.com>

rcl_action/test/rcl_action/test_action_communication.cpp

@@ -98,6 +98,7 @@ protected:
       num_timers_server + num_timers_client,
       num_clients_server + num_clients_client,
       num_services_server + num_services_client,
+      0 /* num_events_server + num_events_client */,
       &context,
       rcl_get_default_allocator());
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

rcl_action/test/rcl_action/test_action_interaction.cpp

@@ -110,6 +110,7 @@ protected:
       num_timers_server + num_timers_client,
       num_clients_server + num_clients_client,
       num_services_server + num_services_client,
+      0 /* num_events_server + num_events_client */,
       &context,
       rcl_get_default_allocator());
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;