Make rendering sensors' HasConnections function virtual

include/gz/sensors/CameraSensor.hh

@@ -140,10 +140,8 @@ namespace gz
       /// \return The distance from the 1st camera, in meters.
       public: double Baseline() const;
 
-      /// \brief Check if there are any subscribers
-      /// \return True if there are subscribers, false otherwise
-      /// \todo(iche033) Make this function virtual on Garden
-      public: bool HasConnections() const;
+      // Documentation inherited.
+      public: virtual bool HasConnections() const override;
 
       /// \brief Advertise camera info topic.
       /// \return True if successful.

include/gz/sensors/DepthCameraSensor.hh

@@ -156,10 +156,8 @@ namespace gz
       /// \return height of the image
       public: virtual double NearClip() const;
 
-      /// \brief Check if there are any subscribers
-      /// \return True if there are subscribers, false otherwise
-      /// \todo(iche033) Make this function virtual on Garden
-      public: bool HasConnections() const;
+      // Documentation inherited.
+      public: virtual bool HasConnections() const override;
 
       /// \brief Create a camera in a scene
       /// \return True on success.

include/gz/sensors/RgbdCameraSensor.hh

@@ -90,10 +90,8 @@ namespace gz
       /// \return height of the image
       public: virtual unsigned int ImageHeight() const override;
 
-      /// \brief Check if there are any subscribers
-      /// \return True if there are subscribers, false otherwise
-      /// \todo(iche033) Make this function virtual on Garden
-      public: bool HasConnections() const;
+      // Documentation inherited.
+      public: virtual bool HasConnections() const override;
 
       /// \brief Create an RGB camera and a depth camera.
       /// \return True on success.

include/gz/sensors/SegmentationCameraSensor.hh

@@ -117,10 +117,8 @@ namespace gz
       /// \return height of the image
       public: virtual unsigned int ImageHeight() const override;
 
-      /// \brief Check if there are any subscribers
-      /// \return True if there are subscribers, false otherwise
-      /// \todo(iche033) Make this function virtual on Garden
-      public: bool HasConnections() const;
+      // Documentation inherited.
+      public: virtual bool HasConnections() const override;
 
       /// \brief Create a camera in a scene
       /// \return True on success.

include/gz/sensors/Sensor.hh

@@ -227,6 +227,10 @@ namespace gz
       /// \sa IsActive
       public: void SetActive(bool _active);
 
+      /// \brief Check if there are any subscribers
+      /// \return True if there are subscribers, false otherwise
+      public: virtual bool HasConnections() const;
+
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data

include/gz/sensors/ThermalCameraSensor.hh

@@ -160,10 +160,8 @@ namespace gz
       /// \param[in] resolution Temperature linear resolution
       public: virtual void SetLinearResolution(float _resolution);
 
-      /// \brief Check if there are any subscribers
-      /// \return True if there are subscribers, false otherwise
-      /// \todo(iche033) Make this function virtual on Garden
-      public: bool HasConnections() const;
+      // Documentation inherited.
+      public: virtual bool HasConnections() const override;
 
       /// \brief Create a camera in a scene
       /// \return True on success.

include/gz/sensors/WideAngleCameraSensor.hh

@@ -139,6 +139,9 @@ namespace gz
       // Documentation inherited.
       public: rendering::CameraPtr RenderingCamera() const override;
 
+      // Documentation inherited.
+      public: virtual bool HasConnections() const override;
+
       /// \brief Create a camera in a scene
       /// \return True on success.
       private: bool CreateCamera();

src/Sensor.cc

@@ -535,3 +535,9 @@ void Sensor::SetActive(bool _active)
 {
   this->dataPtr->active = _active;
 }
+
+//////////////////////////////////////////////////
+bool Sensor::HasConnections() const
+{
+  return true;
+}

src/WideAngleCameraSensor.cc

@@ -560,3 +560,10 @@ rendering::CameraPtr WideAngleCameraSensor::RenderingCamera() const
 {
   return this->dataPtr->camera;
 }
+
+//////////////////////////////////////////////////
+bool WideAngleCameraSensor::HasConnections() const
+{
+  return (this->dataPtr->pub && this->dataPtr->pub.HasConnections()) ||
+      this->dataPtr->imageEvent.ConnectionCount() > 0u;
+}

test/integration/wide_angle_camera.cc

@@ -151,6 +151,7 @@ void WideAngleCameraSensorTest::ImagesWithBuiltinSDF(
   gz::sensors::WideAngleCameraSensor *sensor =
       mgr.CreateSensor<gz::sensors::WideAngleCameraSensor>(sensorPtr);
   ASSERT_NE(sensor, nullptr);
+  EXPECT_FALSE(sensor->HasConnections());
   sensor->SetScene(scene);
 
   ASSERT_NE(sensor->RenderingCamera(), nullptr);
@@ -162,6 +163,7 @@ void WideAngleCameraSensorTest::ImagesWithBuiltinSDF(
       "/test/integration/WideAngleCamera_imagesWithBuiltinSDF/";
   std::string topic = topicBase + "image";
   WaitForMessageTestHelper<gz::msgs::Image> helper(topic);
+  EXPECT_TRUE(sensor->HasConnections());
 
   std::string infoTopic = topicBase + "camera_info";
   WaitForMessageTestHelper<gz::msgs::CameraInfo> infoHelper(infoTopic);