[EricVanWyk]

Super Simple Deauth:

"Individual": I am the FMS. I don't want to talk to you.

Robot: FMS, is this true? I still have stuff for you.

Actual FMS: No, what gave you that idea? Are you feeling ok?

Repeat.

Field Monitor: FTA! We need a counselor!


Result: Communication slows down, and can sometimes drop out entirely. This is a possible attack that was largely ruled out. If someone were to launch this attack, the Airtight system would count the number of "go away" messages and display an ugly warning when it hit a certain threshold. We found that that threshold was too loose, so we're tightening the chain. We can't set the threshold to 1, or we'd get false positives several times a match - it is a valid message to send.



Super Simple Priority Inversion:

Robot: Gyro, please reset yourself and verify proper operation.

Gyro: ... WHY IS THE EVERYTHING SPINNING SO FAST? HELP! ...

Robot: Are you working yet? How about now?

Vision Processor: Hey Robot, here is a whole lot of data for you.

Robot: Not now, I'm still waiting for Gyro to tell me he is ok. Put it in my mailbox, I'll get to it as soon as Gyro is ok.

Gyro: ... *puke* ...

Field: Robot, I keep telling you to reboot, but there there is nowhere for me to put my message to you.

Result: The robot code locks up. The cRIO's safety mechanisms kick in and prevent the bot from moving. This is actually a good thing. The bad part was that it wasn't able to get the command to reboot and try again.


Super Simple Network Tables Flood:

Dash Board: Hey Robot, here is some new data.

Dash Board: Robot, did you get that data yet? Hello?

Robot: Yep! Thanks! Yep! Thanks! Yep! Thanks! Yep! Thanks! Yep! Thanks! Yep! Thanks!...

Other Robots: Will you please shut up?

Result: A few seconds of extra lag. All of those unnecessary acknowledgements eat up radio time, and can cause brief control losses. The plan is to put fairness guarantees in place that prevent this type of error from affecting the other bots.