-

modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp

@@ -127,8 +127,6 @@ void PlatoonController::run_ACC()
     // !inPlatoon + c2cAlive + wantsPlatoon
     bool isLeader = c2c.getRole() == platoonProtocol::Vehicle::Role::LEADER;
     bool inPlatoonRange = egoMotion.getDistance() <= maxPlatoonRange;
-    messageOStream.write("isLeader", isLeader);
-    messageOStream.write("inPlatoonRange", inPlatoonRange);
     if (isLeader == inPlatoonRange)
     { // role does not fit
         c2c.leavePlatoon();
@@ -142,6 +140,8 @@ void PlatoonController::run_ACC()
     if (c2c.getRole() == platoonProtocol::Vehicle::Role::LEADER)
     { updatePcConfig(); }
     updateDesSpeed();
+
+    messageOStream.write("MSG", "end of acc");
 }
 
 void PlatoonController::run_CACC_FV()