@Override
    public CANOpenFrame fromCAN(FrameData frame) {
        CANOpenService service = StaticHelper.serviceId((short) frame.getNodeId());
        int nodeId = Math.abs(service.getMin() - frame.getNodeId());
        return new CANOpenFrame((short) nodeId, service, frame.read(io -> CANOpenPayload.staticParse(io, service)));
    }
Dedicated frame handler instance which can create {@link CANOpenFrame} from received {@link FrameData} and dump it back
via passed {@link CANFrameBuilder} back to the wire.
plc4j/drivers/canopen/src/main/java/org/apache/plc4x/java/canopen/transport/CANOpenFrameDataHandler.java