From 86219cfd58437f2a6fad35d44e9e22eb0e191b48 Mon Sep 17 00:00:00 2001
From: Adrian Del Grosso <10929341+ad3154@users.noreply.github.com>
Date: Thu, 28 Dec 2023 10:55:11 -0700
Subject: [PATCH] [HW]: Add a way to get each channel's assigned frame handler

(cherry picked from commit 61482dcb6970ec57b79e929d3abbe2a0dbbb9bad)
---
 .../hardware_integration/can_hardware_interface.hpp   |  5 +++++
 hardware_integration/src/can_hardware_interface.cpp   | 11 +++++++++++
 2 files changed, 16 insertions(+)

diff --git a/hardware_integration/include/isobus/hardware_integration/can_hardware_interface.hpp b/hardware_integration/include/isobus/hardware_integration/can_hardware_interface.hpp
index b1bf0da6..6102ea66 100644
--- a/hardware_integration/include/isobus/hardware_integration/can_hardware_interface.hpp
+++ b/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();
diff --git a/hardware_integration/src/can_hardware_interface.cpp b/hardware_integration/src/can_hardware_interface.cpp
index af5483ee..9661f783 100644
--- a/hardware_integration/src/can_hardware_interface.cpp
+++ b/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);