Support server pdo and added api #547
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I was trying to utilize this repo to support canopen server functionality and ran into a few items that would've been helpful to aid in the usability and expanded functionality. Some key changes were the addition of being able to start pdo services from the local_node layer this made it easier to use in other repos. I expanded the functionality of the pdo classes mainly to be used by the tpdo but can be expanded to do more in the future if needed. By calling the start_pdo_services the tpdo can read and load in the desired mapping needed and start transmitting data. When the data is updated in the node the tpdo data can be updated as well. I added a packing data method to pack the new data into the existing tpdo data and then update the message.