From 33c82e977b99ae422ca18e97de1e4e34183204db Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@osrfoundation.org>
Date: Tue, 19 Jul 2022 16:33:59 -0700
Subject: [PATCH] Use new has connections function (#1528)

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
---
 src/systems/sensors/Sensors.cc | 50 +---------------------------------
 1 file changed, 1 insertion(+), 49 deletions(-)

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index b746f13402..88c639ee36 100644
--- a/src/systems/sensors/Sensors.cc
+++ b/src/systems/sensors/Sensors.cc
@@ -198,11 +198,6 @@ class gz::sim::systems::SensorsPrivate
   /// \param[in] _ecm Entity component manager
   public: void UpdateBatteryState(const EntityComponentManager &_ecm);
 
-  /// \brief Check if sensor has subscribers
-  /// \param[in] _sensor Sensor to check
-  /// \return True if the sensor has subscribers, false otherwise
-  public: bool HasConnections(sensors::RenderingSensor *_sensor) const;
-
   /// \brief Use to optionally set the background color.
   public: std::optional<math::Color> backgroundColor;
 
@@ -342,7 +337,7 @@ void SensorsPrivate::RunOnce()
     {
       sensors::Sensor *s = this->sensorManager.Sensor(id);
       auto rs = dynamic_cast<sensors::RenderingSensor *>(s);
-      if (rs->IsActive() && !this->HasConnections(rs))
+      if (rs->IsActive() && !rs->HasConnections())
       {
         rs->SetActive(false);
         tmpDisabledSensors.insert(rs);
@@ -895,49 +890,6 @@ std::string Sensors::CreateSensor(const Entity &_entity,
   return sensor->Name();
 }
 
-//////////////////////////////////////////////////
-bool SensorsPrivate::HasConnections(sensors::RenderingSensor *_sensor) const
-{
-  if (!_sensor)
-    return true;
-
-  // \todo(iche033) Remove this function once a virtual
-  // sensors::RenderingSensor::HasConnections function is available
-  {
-    auto s = dynamic_cast<sensors::RgbdCameraSensor *>(_sensor);
-    if (s)
-      return s->HasConnections();
-  }
-  {
-    auto s = dynamic_cast<sensors::DepthCameraSensor *>(_sensor);
-    if (s)
-      return s->HasConnections();
-  }
-  {
-    auto s = dynamic_cast<sensors::GpuLidarSensor *>(_sensor);
-    if (s)
-      return s->HasConnections();
-  }
-  {
-    auto s = dynamic_cast<sensors::SegmentationCameraSensor *>(_sensor);
-    if (s)
-      return s->HasConnections();
-  }
-  {
-    auto s = dynamic_cast<sensors::ThermalCameraSensor *>(_sensor);
-    if (s)
-      return s->HasConnections();
-  }
-  {
-    auto s = dynamic_cast<sensors::CameraSensor *>(_sensor);
-    if (s)
-      return s->HasConnections();
-  }
-  gzwarn << "Unable to check connection count for sensor: " << _sensor->Name()
-          << ". Unknown sensor type." << std::endl;
-  return true;
-}
-
 GZ_ADD_PLUGIN(Sensors, System,
   Sensors::ISystemConfigure,
   Sensors::ISystemReset,