BACnet/IP interface for ESP32

We need a BACnet/IP interface for connecting my ESP32 device to a BACnet network The project consists of one interface (ESP32) which communicates with 20 other ESP32 boards (automatic doors) by CAN bus protocol. The interface is already able to manage the 20 Doors (I wrote the code) by reading and writing information or open/close commands by CAN bus. Our customer wants to control all 20 automatic doors by BACnet? So I would like to use my interface ESP32 (customised PCB developed by us) connected to a BACnet/IP system? If someone has experience or is attracted to this challenge, please let me know. For it’s not a free job. We agree to pay an acceptable price.