From daf6201d156e6c7ec45295fe1432d6e714a9283b Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 1 Apr 2022 10:28:43 +1300
Subject: [PATCH 1/2] core: fix variable name in lazy plugin

---
 src/mavsdk/core/lazy_plugin.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/mavsdk/core/lazy_plugin.h b/src/mavsdk/core/lazy_plugin.h
index 7b543aba31..0d82733675 100644
--- a/src/mavsdk/core/lazy_plugin.h
+++ b/src/mavsdk/core/lazy_plugin.h
@@ -12,18 +12,18 @@ template<typename Plugin> class LazyPlugin {
 
     Plugin* maybe_plugin()
     {
-        if (_action == nullptr) {
+        if (_plugin == nullptr) {
             if (_mavsdk.systems().empty()) {
                 return nullptr;
             }
-            _action = std::make_unique<Plugin>(_mavsdk.systems()[0]);
+            _plugin = std::make_unique<Plugin>(_mavsdk.systems()[0]);
         }
-        return _action.get();
+        return _plugin.get();
     }
 
 private:
     Mavsdk& _mavsdk;
-    std::unique_ptr<Plugin> _action{};
+    std::unique_ptr<Plugin> _plugin{};
 };
 
 } // namespace mavsdk::mavsdk_server

From 2ee1a55b01b482cd0ebed32f114550685299456a Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 1 Apr 2022 10:52:30 +1300
Subject: [PATCH 2/2] core: make LazyPlugin thread-safe

Before this, we could potentially create multiple plugins and overwrite
each other.
---
 src/mavsdk/core/lazy_plugin.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/mavsdk/core/lazy_plugin.h b/src/mavsdk/core/lazy_plugin.h
index 0d82733675..42bf7f3741 100644
--- a/src/mavsdk/core/lazy_plugin.h
+++ b/src/mavsdk/core/lazy_plugin.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <mutex>
 
 #include <mavsdk.h>
 
@@ -12,6 +13,7 @@ template<typename Plugin> class LazyPlugin {
 
     Plugin* maybe_plugin()
     {
+        std::lock_guard<std::mutex> lock(_mutex);
         if (_plugin == nullptr) {
             if (_mavsdk.systems().empty()) {
                 return nullptr;
@@ -24,6 +26,7 @@ template<typename Plugin> class LazyPlugin {
 private:
     Mavsdk& _mavsdk;
     std::unique_ptr<Plugin> _plugin{};
+    std::mutex _mutex{};
 };
 
 } // namespace mavsdk::mavsdk_server