I am not impressed with this source code. Maybe you can tell my why i am wrong.

The safety.h you pointed to is using "int" for variable declaration instead of using stdints to control size. Is there are reason for that?

From safety.h, I tried to follow addr_allowed function parameters. I get here (https://github.com/commaai/openpilot/blob/c025b96e8a15640ee4...) and see this:

int addr = GET_ADDR(to_send); int bus = GET_BUS(to_send);

Where are GET_ADDR and GET_BUS macros declared? There are no header declaration to follow dependencies.