[ublox] new data notifiers

include/gnss_utils/ublox_raw.h

@@ -14,8 +14,11 @@ class UBloxRaw
 
   int addDataStream(const std::vector<u_int8_t>& data_stream);
   
-  const Observations& getObservations() const;
-  const Navigation& getNavigation() const;
+  Observations getObservations();
+  Navigation getNavigation();
+
+  inline bool newObsData(){return new_obs_;};
+  inline bool newNavData(){return new_nav_;};
 
   private:
   raw_t raw_data_;
@@ -23,6 +26,9 @@ class UBloxRaw
   Observations obs_;
   Navigation nav_;
 
+  bool new_obs_;
+  bool new_nav_;
+  
   void updateObservations();  
 
 };

src/ublox_raw.cpp

@@ -9,6 +9,9 @@ UBloxRaw::UBloxRaw()
     assert("Failed when allocating memory for raw_t");
     return;
   }
+
+  new_obs_ = false;
+  new_nav_ = false;
 };
 
 UBloxRaw::~UBloxRaw(){};
@@ -26,6 +29,7 @@ int UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
   {
   case 1:
     updateObservations();
+    new_obs_ = true;
     break;
   case 2:
     // Ephemeris
@@ -35,6 +39,7 @@ int UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
     nav_.addEphemeris(*(raw_data_.nav.eph));
     nav_.addGLONASSEphemeris(*(raw_data_.nav.geph));
     nav_.addSBASEphemeris(*(raw_data_.nav.seph));
+    new_nav_ = true;
     break;
   case 3:
     // SBAS
@@ -45,19 +50,30 @@ int UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
     nav_.addGLONASSEphemeris(*(raw_data_.nav.geph));
     nav_.addSBASEphemeris(*(raw_data_.nav.seph));
     updateObservations();
+    new_obs_ = true;
+    new_nav_ = true;
     break;
   case 9:
     // Almanac
     nav_.clearAlmanac();
     nav_.addAlmanac(*(raw_data_.nav.alm));
+    new_nav_ = true;
     break;
   }
 
   return update_type;
 }
 
-const Observations& UBloxRaw::getObservations() const {return obs_;}
-const Navigation& UBloxRaw::getNavigation() const {return nav_;}
+Observations UBloxRaw::getObservations() 
+{
+  new_obs_ = false;
+  return obs_;
+}
+Navigation UBloxRaw::getNavigation() 
+{
+  new_nav_ = false;
+  return nav_;
+}
 
 void UBloxRaw::updateObservations()
 {