partially address PR comments

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

rclpy/rclpy/qos_event.py

@@ -26,6 +26,22 @@
 from rclpy.waitable import Waitable
 
 
+class QoSPolicyKind(IntEnum):
+    """
+    Enum for types of QoS policies that a Publisher or Subscription can set.
+
+    This enum matches the one defined in rmw/incompatible_qos_events_statuses.h
+    """
+
+    RMW_QOS_POLICY_INVALID = 1 << 0
+    RMW_QOS_POLICY_DURABILITY = 1 << 1
+    RMW_QOS_POLICY_DEADLINE = 1 << 2
+    RMW_QOS_POLICY_LIVELINESS = 1 << 3
+    RMW_QOS_POLICY_RELIABILITY = 1 << 4
+    RMW_QOS_POLICY_HISTORY = 1 << 5
+    RMW_QOS_POLICY_LIFESPAN = 1 << 6
+
+
 class QoSPublisherEventType(IntEnum):
     """
     Enum for types of QoS events that a Publisher can receive.
@@ -83,7 +99,7 @@ class QoSSubscriptionEventType(IntEnum):
     'QoSRequestedIncompatibleQoSInfo', [
         ('total_count', 'int'),
         ('total_count_change', 'int'),
-        ('last_policy_id', 'int'),
+        ('last_policy_kind', 'int'),
     ])
 
 """
@@ -113,12 +129,7 @@ class QoSSubscriptionEventType(IntEnum):
 
 Mirrors rmw_offered_incompatible_qos_status_t from rmw/types.h
 """
-QoSOfferedIncompatibleQoSInfo = NamedTuple(
-    'QoSOfferedIncompatibleQoSInfo', [
-        ('total_count', 'int'),
-        ('total_count_change', 'int'),
-        ('last_policy_id', 'int'),
-    ])
+QoSOfferedIncompatibleQoSInfo = QoSRequestedIncompatibleQoSInfo
 
 
 class QoSEventHandler(Waitable):