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Add publisher/subscription_event_type_is_supported (#1520)

Port rclpy PR ros2/rclpy#1647 (commit cfac914) to expose `rcl_publisher_event_type_is_supported()` and `rcl_subscription_event_type_is_supported()`, so user code can query the active RMW implementation about which QoS events it delivers before wiring up a handler.

The underlying rcl APIs (ros2/rcl#1317) ship in ROS 2 Rolling only.

* Native binding (`src/rcl_event_handle_bindings.cpp`): N-API wrappers exported as `isPublisherEventTypeSupported` / `isSubscriptionEventTypeSupported`, both gated by `#if ROS_VERSION >= 5000`.
* JS wrapper (`lib/event_handler.js`): public `isPublisherEventTypeSupported(eventType)` / `isSubscriptionEventTypeSupported(eventType)`. Availability guard keys off `typeof rclnodejs.<fn> !== 'function'` (mirrors the C++ build gate, matches the existing pattern in `lib/action/client.js`) and throws `OperationError` on pre-rolling. Argument validation uses `TypeValidationError` / `RangeValidationError` for consistency with `lib/time.js`, `lib/logging.js`, `lib/message_serialization.js`.
* Tests (`test/test-event-handle.js`): two suites gated on native-symbol presence — asserts the unavailable-throw path, boolean returns for every enum value, `MATCHED` reported supported, and the right validation-error class/message for invalid inputs.

Fix: #1519

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