new: implemented can.obd2 builtin parser

modules/can/can_obd2_pid_response.go

@@ -0,0 +1,25 @@
+package can
+
+import (
+	"go.einride.tech/can"
+)
+
+func (msg *OBD2Message) ParseResponse(frame can.Frame) bool {
+	msgSize := frame.Data[0]
+	// validate data size
+	if msgSize > 7 {
+		// fmt.Printf("invalid response size %d\n", msgSize)
+		return false
+	}
+
+	svcID := frame.Data[1] - 0x40
+
+	msg.Type = OBD2MessageTypeResponse
+	msg.ECU = uint8(uint16(frame.ID) - uint16(OBD2ECUResponseMinID))
+	msg.Size = msgSize - 3
+	msg.Service = OBD2Service(svcID)
+	msg.PID = lookupPID(svcID, []uint8{frame.Data[2]})
+	msg.Data = frame.Data[3 : 3+msg.Size]
+
+	return true
+}