CANParser: Update CAN data handling functions to accept raw data and size parameters

[deanlee]

When parsing CAN messages, CanParser creates a memory copy for each message solely to satisfy the checksum calculation function's requirement, which expects a std::vector<uint8_t> as parameter. This approach is inefficient and slows down the parsing process.

std::vector<uint8_t> data(dat.size(), 0);
memcpy(data.data(), dat.begin(), dat.size());

This PR updates all functions responsible for handling CAN data to accept raw data pointers uint8_t* data and size parameters size_t size instead of using std::vector<uint8_t>. This adjustment aims to enhance performance and reduce memory overhead by avoiding unnecessary memory allocations and copies associated with vector usage.

[sshane]

Can we just pass the capnp::Data::Reader, or do we want to remove capnp as a dependency too?

[sshane]

How much does this improve performance? I don't see much of a difference on a comma 3X

[deanlee]

This change won't significantly impact the performance of the master branch, as the master spends lots of time on Cython code. However, it will enhance the performance of the C++ code, particularly after #1046. Currently, there are two performance bottlenecks in the C++ code that can be addressed: memory-aligned copying and the use of vectors. This adjustment is expected to boost the performance of the C++ code, with even greater improvements expected on devices.