[HW]: Add a way to get each channel's assigned frame handler

(cherry picked from commit 61482dc)

hardware_integration/include/isobus/hardware_integration/can_hardware_interface.hpp

@@ -64,6 +64,11 @@ namespace isobus
 		/// @returns `true` if the driver was removed from the channel, otherwise `false`
 		static bool unassign_can_channel_frame_handler(std::uint8_t channelIndex);
 
+		/// @brief Gets the CAN driver assigned to a channel
+		/// @param[in] channelIndex The channel to get the driver from
+		/// @returns The driver assigned to the channel, or `nullptr` if the channel is not assigned
+		static std::shared_ptr<CANHardwarePlugin> get_assigned_can_channel_frame_handler(std::uint8_t channelIndex);
+
 		/// @brief Starts the threads for managing the CAN stack and CAN drivers
 		/// @returns `true` if the threads were started, otherwise false (perhaps they are already running)
 		static bool start();

hardware_integration/src/can_hardware_interface.cpp

@@ -126,6 +126,17 @@ namespace isobus
 		return true;
 	}
 
+	std::shared_ptr<CANHardwarePlugin> CANHardwareInterface::get_assigned_can_channel_frame_handler(std::uint8_t channelIndex)
+	{
+		std::shared_ptr<CANHardwarePlugin> retVal;
+
+		if (channelIndex < hardwareChannels.size())
+		{
+			retVal = hardwareChannels.at(channelIndex)->frameHandler;
+		}
+		return retVal;
+	}
+
 	bool CANHardwareInterface::start()
 	{
 		std::lock_guard<std::mutex> lock(hardwareChannelsMutex);