I am attempting to take in a UDP packet to my code and spit it out as a CAN message.

Pretty much a complete beginner and have now gotten stuck.

My code currently will receive a hex UDP packet and read it out in serial. It will also transmit a template CAN message to my PCAN.

Where I am stuck is how to turn these hex messages from UDP into a CAN message?

#include <SPI.h>
#include <PortentaEthernet.h>
#include <Arduino_CAN.h>
#include <Arduino_PortentaMachineControl.h>

// Ethernet settings
IPAddress ip(192, 168, 0, 2);   //IP address of Arduino
unsigned int localPort = 8888;  // Local port to listen on
 //buffer for packet
//static uint32_t const UDP_TX_PACKET_MAX_SIZE = 7;
char packetBuffer[UDP_TX_PACKET_MAX_SIZE];
// CAN settings
static uint32_t const canId = 0x20;
static uint32_t msg_cnt = 0;
// UDP instance
EthernetUDP Udp;

void setup() 
{
  Serial.begin(9600);
  // Start Ethernet and UDP
  Ethernet.begin(ip);
  Udp.begin(localPort);
  //CAN setup
 if (!MachineControl_CANComm.begin(CanBitRate::BR_1000k)) {
    Serial.println("CAN init failed.");
    while(1) ;
  }
}

void loop() 
{
  // If there's data available in the UDP buffer
  int packetSize = Udp.parsePacket();
  if (packetSize) 
  {
    // Read the UDP packet
    int len = Udp.read(packetBuffer, UDP_TX_PACKET_MAX_SIZE);
    if (len > 0) 
    {
      packetBuffer[len] = 0; // Null-terminate the string
    }
    // Print the received UDP packet
    Serial.println("UDP packet received");
    Serial.println(packetBuffer);
    
    // Assemble CAN message
    uint8_t const msg_data[] = {0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08};
    CanMsg msg(canId, sizeof(msg_data), msg_data);
 

    //Transmit CAN msg
     int const rc = MachineControl_CANComm.write(msg);
     if (rc <= 0) {
    Serial.print("CAN write failed with error code: ");
    Serial.println(rc);
    while(1) ;
  }

  Serial.println("CAN write message!");

  /* Increase the message counter */
  msg_cnt++;

  /* Only send one message per second */
  delay(1000);
    
  }
}