direct capnp to vector[CanData] conversion

opendbc/can/parser_pyx.pyx

@@ -4,7 +4,7 @@
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libc.stdint cimport uint32_t
+from libc.stdint cimport uint32_t, uintptr_t
 
 from .common cimport CANParser as cpp_CANParser
 from .common cimport dbc_lookup, Msg, DBC, CanData
@@ -67,13 +67,15 @@ cdef class CANParser:
     if self.can:
       del self.can
 
+  def update(self, parsed_data, sendcan=False):
+    cdef uintptr_t pointer = parsed_data.get_data_pointer()
+    can_data = <vector[CanData]*> pointer
+    return self._update(can_data[0], sendcan)
+
   def update_strings(self, strings, sendcan=False):
     # input format:
     # [nanos, [[address, data, src], ...]]
     # [[nanos, [[address, data, src], ...], ...]]
-    for address in self.addresses:
-      self.vl_all[address].clear()
-
     cdef vector[CanData] can_data_array
 
     try:
@@ -95,6 +97,12 @@ cdef class CANParser:
     except TypeError:
       raise RuntimeError("invalid parameter")
 
+    return self._update(can_data_array, sendcan)
+
+  cdef _update(self, vector[CanData] &can_data_array, sendcan):
+    for address in self.addresses:
+      self.vl_all[address].clear()
+
     updated_addrs = self.can.update(can_data_array)
     for addr in updated_addrs:
       vl = self.vl[addr]