Fix TOW week crossover in PVT time prints and rinex obs prints

src/algorithms/PVT/libs/rinex_printer.cc

@@ -11116,6 +11116,10 @@ boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_Ephemeris& ep
     // --??? No time correction here, since it will be done in the RINEX processor
     const double gps_t = obs_time;
     boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
+    if (obs_time < 18)
+        {
+            t += boost::posix_time::seconds(604800);
+        }
     if (eph.i_GPS_week < 512)
         {
             boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -991,9 +991,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                             this->set_course_over_ground(new_cog);
                         }
 
-                    //observable fix:
-                    //double offset_s = this->get_time_offset_s();
-                    //this->set_time_offset_s(offset_s + (rx_position_and_time(3) / GPS_C_m_s));  // accumulate the rx time error for the next iteration [meters]->[seconds]
                     this->set_time_offset_s(rx_position_and_time(3));
 
                     DLOG(INFO) << "RTKLIB Position at RX TOW = " << gnss_observables_map.begin()->second.RX_time
@@ -1002,10 +999,17 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     boost::posix_time::ptime p_time;
                     // gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); //Corrected RX Time (Non integer multiply of 1 ms of granularity)
                     // Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX)
-                    gtime_t rtklib_time = gpst2time(adjgpsweek(nav_data.eph[0].week), gnss_observables_map.begin()->second.RX_time);
+                    gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3));  //uncorrected rx time
+                    if (gnss_observables_map.begin()->second.RX_time < 18000.0)
+                        {
+                            //p_time += boost::posix_time::seconds(604800);
+                            rtklib_time = timeadd(rtklib_time, 604800);
+                        }
+
                     gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
                     p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
                     p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6)));  // NOLINT(google-runtime-int)
+
                     this->set_position_UTC_time(p_time);
                     cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
 
@@ -1014,6 +1018,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                << " [deg], Height= " << this->get_height() << " [m]"
                                << " RX time offset= " << this->get_time_offset_s() << " [s]";
 
+
                     // PVT MONITOR
 
                     // TOW

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -2044,6 +2044,17 @@ double time2doy(gtime_t t)
  *-----------------------------------------------------------------------------*/
 int adjgpsweek(int week)
 {
+    //    int w;
+    //    if (week < 512)
+    //        {
+    //            //assume receiver date > 7 april 2019
+    //            w = week + 2048;  //add weeks from 6-january-1980 to week rollover in 7 april 2019
+    //        }
+    //    else
+    //        {
+    //            //assume receiver date < 7 april 2019
+    //            w = week + 1024;  //add weeks from 6-january-1980 to week rollover in 22 august 2019
+    //        }
     int w;
     (void)time2gpst(utc2gpst(timeget()), &w);
     if (w < 1560)
@@ -2051,6 +2062,7 @@ int adjgpsweek(int week)
             w = 1560; /* use 2009/12/1 if time is earlier than 2009/12/1 */
         }
     return week + (w - week + 512) / 1024 * 1024;
+    //    return w;
 }