Discovered that we crash when we press multiple times loadfromDB button in...

Discovered that we crash when we press multiple times loadfromDB button in GUI. It also doesn't work properly

pps_ws/src/d_fall_pps/param/Crazyflie.db

+1,CF2,123,0,0.04,0.24,-0.2,1.14,1.81,2

pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp

@@ -20,6 +20,8 @@
 #include "d_fall_pps/ViconData.h"
 #include "d_fall_pps/UnlabeledMarker.h"
 
+#define TESTING_FAKE_DATA
+
 // notice that unit here are in milimeters
 using namespace ViconDataStreamSDK::CPP;
 using namespace d_fall_pps;
@@ -33,6 +35,88 @@ int main(int argc, char* argv[]) {
     ros::Publisher viconDataPublisher =
         nodeHandle.advertise<ViconData>("ViconData", 1);
 
+
+    #ifdef TESTING_FAKE_DATA
+    // Test faking data part
+    float f = 0;
+    int i = 0;
+
+    ROS_INFO("TESTING_FAKE_DATA.................................");
+    while(ros::ok())
+    {
+        if(i % 1000 == 0)
+        {
+        	ROS_INFO("iteration #%d",i);
+    	}
+
+        // Testing piece of code
+        ViconData viconData;
+        UnlabeledMarker marker;
+
+        marker.index = 0;
+        marker.x = f;
+        marker.y = 0;
+        marker.z = 0;
+
+        viconData.markers.push_back(marker);
+
+
+        marker.index = 1;
+        marker.x = 0;
+        marker.y = f;
+        marker.z = 0;
+
+        viconData.markers.push_back(marker);
+
+        if(i > 50 && i < 100)
+        {
+            marker.index = 2;
+            marker.x = f;
+            marker.y = f;
+            marker.z = 0;
+            viconData.markers.push_back(marker);
+        }
+
+        ros::Duration(0.1).sleep();
+        f += 10/1000.0f;
+        i++;
+        // TODO: Fake CF data
+        CrazyflieData crazyfly;
+
+        crazyfly.occluded = false;
+
+        crazyfly.crazyflieName = "CF1";
+        crazyfly.x = 0;
+        crazyfly.y = 0;
+        crazyfly.z = 0;
+        crazyfly.yaw = 3.14159 * f;
+        viconData.crazyflies.push_back(crazyfly);
+
+        crazyfly.crazyflieName = "CF2";
+        crazyfly.x = 1;
+        crazyfly.y = 1;
+        crazyfly.z = 0;
+        crazyfly.yaw = -3.14159 * f;
+        viconData.crazyflies.push_back(crazyfly);
+
+        crazyfly.crazyflieName = "CF3";
+        crazyfly.x = 1;
+        crazyfly.y = -1;
+        crazyfly.z = 0;
+        crazyfly.yaw = -3.14159 * f;
+
+
+        if(i > 50 && i < 200)
+        {
+            crazyfly.occluded = true;
+        }
+
+        viconData.crazyflies.push_back(crazyfly);
+
+        viconDataPublisher.publish(viconData); // testing data
+    }
+    #else
+
     Client client;
 
     std::string hostName;
@@ -152,4 +236,6 @@ int main(int argc, char* argv[]) {
     client.DisableDeviceData();
 
     client.Disconnect();
+    #endif
+
 }