tines/THREAT_MODEL.md

tines — threat model and security assessment

• Assessed: master at 3b1a644 (tines-core / tines-store / tines-bt / tines-ros2 / tines 0.3.0, fleet-deployment milestone mostly landed)
• Date: 2026-10-19
• Updated: 2026-10-21 at 411daa0 (feat/tines-core-1-0), after the tines-core 1.0 review fixes landed. Earlier update: 2026-10-20 at 89041ea, after the fleet fixes. The findings keep their original text; each fixed one ends with a Fixed or Partly fixed line. §6 adds F18, found in the fleet re-check, and F19, found with the 1.0 trusted-time work.
• Status: living document. It's not a spec: update it when the code or the trust assumptions change.
• Related: the 1.0 spec (docs/superpowers/specs/2026-10-18-tines-1-0-design.md), especially §2a (signature slot) and §2b (age and the 1.1 threat model).

Every finding below was checked against the source; file:line references are to 3b1a644 unless a line says otherwise.

1. Summary

tines v1 has no trust layer by design. The core spec lists security as a non-goal for v1, and the fleet spec repeats "v1 has no trust layer". So most of what an attacker can do today is expected:

• Anyone in radio range can read everything.
• Anyone in radio range can inject observations under any identity.
• Anyone in radio range can take custody of addressed messages.

That's acceptable while the fleet operates in a trusted RF environment, and not otherwise. Signing arrives in 1.1 (spec §2a), and link authentication is the likely 1.1 mechanism for everything that changes per hop (spec §2b).

Separate from the by-design gaps, the assessment found defects that matter now, even with no attacker present. Several are correctness bugs that the fleet milestone needs fixed regardless of security:

#	Severity	Finding
F1	High	A receiver whose store is full still acks, so the sender releases custody of a message nobody kept.
F2	High	The standalone tines service never polls its Node, so it never exchanges anything over BLE.
F3	High	tines-bt doesn't bind a connection to the advertised NodeId, has no inbound listener, and loses frame boundaries on a stream socket.
F4	High	No host calls LogStore::flush, and both seed Node from the config first_seq. Released flags and next_seq are never persisted, so seqs repeat after every restart.
F5	Medium	LogStore recovery truncates every record after a single corrupt one, and the writer can produce records the reader rejects.
F6	Medium	A peer's NodeId is taken from each frame's from, unchecked and changeable per frame, so a peer can claim any identity and be handed that identity's addressed mail.
F7–F17	Medium/Low	Resource exhaustion, amplification, local-IPC and ROS2 exposure, and smaller defects (§6).

Recommended order: fix F1–F5 in the fleet milestone (they're bugs), harden the hosts (F10–F12) before any robot leaves the lab, and settle the 1.1 threat questions (§8) before designing signing.

Fleet fixes, 2026-10-19 (through 89041ea):

#	Status	Commit
F1	Fixed	2738de4
F2	Fixed	d98895b
F3	Partly fixed: framing, roles, binding and Contact/Lost are in, but the host is still limited to one configured peer (see F3)	7df9f41
F4	Partly fixed: seqs and releases are durable, but flushing isn't on a schedule (F18)	848721a
F5	Fixed	4718b6f, 24b5a78
F17	Fixed	6e2dc6f

1.0 fixes, 2026-10-21 (through 411daa0, on feat/tines-core-1-0; not yet merged or published):

#	Status	Commit
F6	Fixed	fb71810, 506d880 (the pin resets on a repeat Contact)
F8	Fixed	fb71810, 84c79fa (silent and contact-only peers are evicted)
F9	Fixed	fb71810, a180ec2, 53f592f (rate-limit slack)
F13	Fixed (Reassembler displacement accepted, per spec)	fb71810, 506d880, 9362e9f
F18	Partly fixed: the store side is done (flush through the Store trait, the caller's tick as the marker, clamping), and both hosts flush right after they first adopt trusted time. Hosts still don't flush on a timer or at shutdown	c42f5de, 06a0577, 039fbf7, e4544bf
F19	Partly mitigated (new, 2026-10-21): peer time is chosen by decision J and bounded to a plausible range, but it stays unauthenticated until 1.1	039fbf7, e4544bf, 4690bf9, 03b75f2

Still open:

• F10–F12: the host-hardening spec.
• F7 and F14: 1.1.
• F18 (remaining): timed and shutdown flushes, host work (§10).
• F19 (remaining): 1.1 (signatures); until then, a local clock source wherever one exists (§6).

2. System and trust boundaries

flowchart LR
  subgraph Robot["Robot (one tines instance per device)"]
    direction TB
    App["Robot software<br/>(ROS2 nodes or IPC clients)"]
    Host["Host: tines-ros2 or tines service"]
    Core["tines-core<br/>Node + Exchange"]
    Store[("tines-store<br/>append-only log")]
    BT["tines-bt<br/>BlueZ L2CAP"]
    App -- "B2: DDS domain / Unix socket" --> Host
    Host --> Core
    Core --> Store
    Core --> BT
  end
  Air(("B1: radio<br/>BLE advertising + L2CAP"))
  BT <--> Air
  Air <--> Other["Other robots<br/>(and anyone in range)"]
  Disk["B3: filesystem"] -.- Store

Boundary	What crosses it	Who can be on the other side today
B1 radio	Advertisements (NodeId in clear), L2CAP frames: Summary, Obs, Frag, Ack	Any BLE device in range. There's no pairing or encryption. Since 7df9f41 a connection is bound to an advertised NodeId on an allowlist, but advertisements are unauthenticated, so anyone can advertise an allowed NodeId.
B2 local IPC / ROS2	Observations in, beliefs/payloads and events out	Any local user who can reach the socket (permissions come from umask); any participant on the ROS2 DDS domain (no SROS2).
B3 storage	The observation log: observations, releases, the boot counter	Anyone with write access to the log file. Since 4718b6f the file is created 0600 (its directory 0700 when the store creates it) and locked against a second opener.
Core ↔ transport	Addr, raw frames	Trusted code. Core relies on the transport to bind Addr to a NodeId (AGENTS.md: "core never maps Addr to NodeId").

3. Assets

1. World state integrity: the facts robots plan and navigate on. Forged or stale facts can make a robot act wrongly.
2. Directive integrity and delivery: addressed messages (tasks, telemetry home), including that they arrive, arrive once, and don't outlive their lifetime.
3. Custody: "every unexpired addressed message has at least one holder".
4. Availability of exchange: contacts are rare and short; wasting one is costly.
5. Robot resources: RAM (MCU-class targets), disk, battery, airtime.
6. Identity: which robot said what (observer), which robot is on the other end of a link.
7. Confidentiality: world state and directives (not a v1 goal) and robot location/movement privacy (stable advertised NodeId).
8. Durability: the log, the released set and next_seq across reboots.

4. Adversaries

Adversary	Capabilities	In scope for
A1 radio outsider	No fleet key. In BLE range: listens, advertises any NodeId, connects, injects arbitrary frames, replays, floods. Can't easily alter frames in flight on an established link, but can impersonate a peer.	v1 assessment; 1.1 design
A2 compromised robot (insider)	Valid fleet member (and, from 1.1, a valid key). Can already drop, delay or withhold anything it carries; custody accepts carrier failure.	1.1 design (what signatures do and don't buy)
A3 local user / process	Unprivileged account or process on the robot's computer.	Host hardening (now)
A4 ROS2 domain participant	Any process on the same DDS domain, local or on the network the ROS graph is exposed to.	Host hardening (now)
A5 physical / storage access	Can read or edit the log, swap the SD card, or power-cycle the robot at will.	Partially (integrity and crash safety); full physical attack is out of scope
A0 no adversary	Faults only: power loss, full disk, full store, radio loss, clock jumps.	Always. Several findings below are A0 bugs.

Out of scope: side channels, RF jamming (physical-layer DoS can't be fixed in software), compromise of BlueZ/the kernel, and supply chain.

5. Security properties: claimed vs actual

The third column is the original assessment. The fourth is the state after the fleet fixes.

Property	Claimed (specs/AGENTS.md)	Actual at 3b1a644	At 89041ea
No panic on untrusted input (core)	Hard constraint	Holds as far as reviewed: saturating age arithmetic, guarded shifts and indexing, expects unreachable from wire input (exchange.rs:437, 1092; frag.rs:147). The sim's garbage_frames_never_panic covers random bytes only (§9).	Unchanged.
Malformed frames dropped	Hard constraint	Holds in core (wire.rs:64-69). The 1.0 spec adds reporting.	Unchanged; 1.0 adds reporting.
Bounded memory in core	Fixed-capacity buffers	Holds for the exchange (§6 table). Doesn't hold for the system: MemStore and LogStore are unbounded without trim, and no host calls trim (F10).	Unchanged in practice: the service calls trim with an empty default policy, tines-ros2 never does (F10, F18).
Custody: ≥ 1 holder (no carrier failure)	Fleet spec, sim property	Breaks without an attacker when a store is full (F1). Breaks trivially under A1 (F7).	Holds without an attacker (F1 fixed, with a sim property). Still breaks under A1 (F7).
Frames bound to the advertised NodeId	Fleet spec ("frames whose from differs … are dropped at the transport")	Doesn't hold (F3, F6).	Holds at the transport for tines-bt (F3), against unauthenticated adverts. Since 1.0 (fb71810, 506d880) core also pins a peer's NodeId to its first frame in a contact and drops, and counts, a frame whose from differs (F6).
Released messages not re-forwarded after reboot	Fleet spec	Doesn't hold: release flags are never flushed (F4). Safe direction (duplicate custodian), but wasteful.	Holds: Release records are appended at once (not fsynced until the next flush, so a power cut can still lose one).
next_seq persisted across reboots	Core contract	Doesn't hold in either host (F4).	Holds: a persisted boot counter seeds first_seq in both hosts.
Age continues across reboot	Fleet spec	Partly. Hosts open the store at tick 0, and the service's tick is wall-clock seconds (F17).	Partly. Monotonic ms (F17 fixed) and clock markers fold age across a restart, but only up to the last flush, which may be long ago or never (F18). Since 1.0 the downtime itself is folded in once the host has trusted wall time; without it, held addressed messages expire and broadcasts are floored (F18, F19).

6. Findings

Severity reflects impact on the fleet as it's meant to be deployed (trusted RF, single-user robot computers) unless stated. "By design (v1)" marks attacker capabilities that follow from having no trust layer; they're listed so the 1.1 work can check them off.

F1 — Full store acks what it didn't keep (High, A0/A1)

Exchange::accept enqueues an ack for every receive except a released duplicate, including when insert fails (exchange.rs ~805-813, comment: "even an un-stored id"). Err(Full) counts as a duplicate and released is false, so the ack goes out. The sender then releases custody of a message the receiver didn't keep.

• Effect: an addressed message is lost with no carrier failure. This violates the custody invariant the fleet spec and sim property rely on. An attacker doesn't need to do anything clever: filling a robot's store (F10) turns it into a custody sink.
• Why it's not caught: MemStore never returns Full, and the sim uses MemStore.
• Fix: never ack an addressed observation unless insert returned Ok(_) (and, for duplicates, the copy isn't released). Add a sim/unit test with a store that returns Full. This was the fleet spec's own rule ("B never acks a … store-full receive").
• Fixed: 2738de4.

F2 — The standalone service never runs the exchange (High, A0)

tines/src never calls Node::poll or Node::trim (grep; the plan calls for a poll loop, docs/superpowers/plans/2026-10-18-tines-fleet-deployment.md:209). serve() only answers IPC requests.

• Effect: a non-ROS2 robot never sends or receives anything. Inbound BLE data accumulates in an unbounded channel (F10).
• Security relevance: availability, plus unbounded memory growth while connected. Mostly a functional bug.
• Fix: a poll loop (with trim on a schedule and flush after releases), off the IPC thread or interleaved with it.
• Fixed: d98895b (runs inline in serve — the node isn't Send, so no separate thread).

F3 — tines-bt: no identity binding, no listener, no framing (High, A0/A1)

• read_loop stamps every inbound chunk with from: peer, where peer comes from config (tines-bt/src/transport.rs:340-363). The drop check if from != self.peer (transport.rs:113-115) therefore never fires, whichever device connected.
• The scanner connects to the first device advertising the tines service UUID and never decodes or compares the advertised NodeId (transport.rs:290-308). There's no allowlist.
• There's no L2capListener, so nothing accepts inbound connections, and is_central is never consulted. Every instance dials out. Two robots can only connect if something else accepts.
• The L2CAP socket is in stream mode and each read() result is treated as one frame (transport.rs:345-356). Frame boundaries aren't preserved, so frames can be split or merged. Without an attacker, that produces sporadic malformed drops. With the 1.0 drop reporting, it would also produce false "malformed" alarms.
• Contact/Lost events are never emitted, so core's per-contact state (bounce records, ack validation "this contact", peer removal) never resets (see F8).
• No BLE security level (pairing, encryption, LE Secure Connections) is requested.

Fix (fleet milestone):

• Use SeqPacket L2CAP, or add explicit length-prefix framing.
• Add a listener plus the smaller-NodeId-initiates rule.
• Decode the advertised NodeId and bind the connection to it.
• Drop frames whose from differs from the bound NodeId.
• Emit Contact/Lost.
• Partly fixed: 7df9f41 (SeqPacket framing, advertise+scan roles, UUID-checked NodeId binding, frame_sender from-check, Contact/Lost). Re-checked at 89041ea:
  • The fleet-fixes spec's allowlist (empty = any tines advertiser) and multi-peer support aren't reachable. The service config still takes one required peer. BluerRadio::new builds the allowlist as exactly {peer}, and BtTransport::poll drops every frame and event whose address isn't that peer (tines-bt/src/transport.rs:186-202, 274). The radio loop can hold several connections, but only one is ever used, so each robot exchanges with one configured partner.
  • Inbound and outbound channels are still unbounded (F10).
  • No BLE security level is requested (unchanged; 1.1).
  • No two-radio check of the SeqPacket path is recorded yet. tines-bt/README.md gives the procedure but no result.

Later (1.1): authenticate the link (spec §2b). Advertised NodeIds are unauthenticated, so the binding only becomes meaningful once there's a handshake.

F4 — Durability promises aren't kept by the hosts (High, A0)

• No host calls LogStore::flush (grep of tines-ros2/src, tines/src). Meta { next_seq, released } is only written by flush. So the released set never reaches disk, and after a restart every released message is forwarded again. That's the safe direction (a duplicate custodian) but contradicts the fleet spec.
• Both hosts build Node with the config first_seq (tines/src/main.rs:44-48, tines-ros2/src/node.rs:147-149) instead of a persisted value. Core requires next_seq to be persisted (boot_count << 32 | counter). After a restart, seqs repeat. A new observation with the same topic, payload and recipient as an earlier one then has the same id and dedupes silently: the robot reports something and it vanishes.
• LogStore::next_seq counts all inserts, including received ones (log.rs:352), so it isn't the node's seq either.

Fix:

• Persist the node's next_seq (boot counter plus counter), and seed Node from it.
• Flush on release and on a timer.
• Add a host-level restart test.
• Partly fixed: 848721a. The boot counter seeds first_seq in both hosts, and releases are appended as records immediately. Flushing isn't on a schedule, though; see F18.

F5 — Log recovery can destroy good data (Medium, A0/A5)

• LogStore::new stops replay at the first record that fails to parse and truncates the file there (log.rs:180-206). A single corrupt record in the middle (a bad sector, a bit flip, a hand edit) deletes every record after it. The code comment says "only the partial tail of a crashed append is lost, never a complete record", which is true only for tail damage.
• write_record doesn't enforce MAX_RECORD_BYTES (log.rs:274-281), but the reader rejects longer records. A Meta record grows by 16 bytes per released id, so above roughly 500 released ids the store writes a record that makes it truncate itself on the next open.
• There's no checksum, so silent corruption that still decodes is accepted. The stored id is trusted without recomputing obs.id() (log.rs:154).
• There's no file locking. Two processes on one log interleave appends, and one's recovery set_len can cut the other's records.
• The log is read whole into memory (log.rs:127). The file is created with umask permissions, and the truncation isn't fsynced.

Fix:

• Add a per-record CRC (or a keyed MAC later).
• On a bad record in the middle, skip to the next valid one (a sync marker) instead of truncating; truncate only a torn tail.
• Enforce the size cap on write, and keep Meta small (store release flags per record, or compact).
• Take an exclusive flock on open.
• Create the file with mode 0600.
• Recompute ids on load.
• Fixed: 4718b6f + 24b5a78 (format v1: header, per-record CRC-32C, sync marker + skip-corrupt recovery, torn-tail truncation + dir fsync, flock, 0600, recomputed ids).

F6 — Peer identity is whatever the last frame said (Medium; High combined with F3)

on_frame sets peer.id = Some(frame.sender()) on every frame, unchecked (exchange.rs:723). The from field inside Obs/Frag is ignored, and observer is never compared to anything.

• Effect (A1): send one frame with from = X, and forward_addressed hands you every message addressed to X (exchange.rs:584-593), as "delivery". Combined with F7 you can then ack them, and the honest carrier releases them.
• Design note: core deliberately leaves the Addr ↔ NodeId binding to the transport, so this is F3's consequence. Still, core could cheaply refuse a NodeId change for an existing peer within a contact, and should, once the transport binds identities.
• Fixed in fb71810, 506d880: the first decoded frame in a contact pins peer.id. A later frame with another from is dropped and counted as DropReason::IdentityChanged. The pin resets on Lost and on a repeat Contact.

F7 — Custody can be taken by anyone the carrier sends to (Medium; by design v1)

An ack is accepted if it comes from the address the message was sent to (bounce Sent record, exchange.rs:756-784). Under the custody chain, a carrier hands an addressed message to any peer with a known id (exchange.rs:594-595), then releases on that peer's ack. A1 can collect custody of every addressed message in range and drop it.

• That matches "carrier failure" (accepted for v1) but needs no key and no compromise. 1.1's link authentication limits it to fleet members (A2), where it really is carrier failure.
• Also: repeated Acks produce duplicate confidence events (bcast_sent isn't consumed).

F8 — Peer-table lockout (Medium, A1)

MAX_PEERS = 8. Peers are added on Contact or on the first decodable frame, and removed only on Lost (exchange.rs:674-708). A full table drops all frames from new addresses. There's no idle eviction. With BLE never emitting Lost (F3), entries effectively never leave on real hardware. (Since 7df9f41 tines-bt emits Lost, so honest peers leave; spoofed addresses on other transports still can't be evicted.) Eight spoofed addresses lock a robot out of exchange until restart.

Fix: idle-timeout eviction in core (a local constant), and real Lost events from tines-bt.

• Fixed in 84c79fa (first attempt fb71810 evicted only the peer that had just sent): a peer with no inbound frame for PEER_IDLE_MS (30 s), counted from its contact if it never sent, is removed as if Lost. Idle peers are swept before a peer is added and at the start of every next_frame, so eight silent or contact-only addresses can't hold the table.

F9 — Summary amplification (Medium, A1)

A Summary of about 20 bytes with an all-zero filter makes the receiver rebuild that peer's send queue with up to 256 of its youngest broadcasts (exchange.rs:1065-1125). Each one can be up to 64 fragments, so the worst case is about 16,000 frames of airtime per crafted summary. That's throttled to one frame per poll, but sustained. Re-sending the summary re-queues what was already sent.

• Each rebuild also scans every broadcast and clones payloads, which costs CPU and allocation per summary, with no rate limit.
• Fix (as amended in spec §10, 2026-10-20 and decision L):
  • Rate-limit summary processing per peer: act on at most one summary per SUMMARY_INTERVAL_MS. To allow for poll jitter, a summary is accepted once at least SUMMARY_INTERVAL_MS / 2 has passed since the last one acted on, which still bounds replay to two per interval.
  • The send-queue rebuild skips ids the peer's filter says it holds (Bloom::might_contain). Output per received summary stays bounded by SEND_QUEUE_CAP.
  • It doesn't skip ids already sent this contact. "Sent" doesn't mean "received", so a peer that lost an id must get it again on its next summary.
• Fixed in fb71810, a180ec2, 53f592f.

F10 — Unbounded growth (Medium, A0/A1/A4)

• MemStore and LogStore are bounded only by Node::trim. Neither host calls it. The log also never compacts (log.rs: append-only, and every flush appends the full released list).
  • At 89041ea: the service calls trim with TrimPolicy::default(), which removes nothing; tines-ros2 never calls it. Releases are now one small record each rather than a growing list, but the log still never compacts.
  • At 411daa0: LogStore rewrites the log as a snapshot at every open and after the wall-clock fold (06a0577), which compacts it. Between those points it only grows, and the trim policy is still empty.
• Unbounded channels: tines-bt's inbound and outbound mpsc (transport.rs:207-208), and tines-ros2's inbound mpsc (node.rs:152).
• The IPC server allocates up to 1 MiB per request frame.
• Effect: A1 can fill memory and disk by gossiping junk. A4 can do it by publishing on a bridged topic. Either drives F1 (store full) once a bounded store exists.
• Fix:
  • Hosts trim on a schedule with a documented default policy.
  • Use bounded channels (drop or backpressure).
  • Add log compaction.
  • Add per-peer and per-observer insert quotas (for example, a per-peer token bucket on new inserts).

F11 — Local IPC is open to any local user (Medium, A3)

• The socket gets umask permissions, and there's no SO_PEERCRED check (tines/src/ipc.rs:194-200; grep finds no set_permissions or peer-cred code).
• Any local process that can reach it can:
  • publish observations as this robot (Observe), which are then gossiped fleet-wide under its identity;
  • read any belief;
  • drain the shared event queue, destructively.
• The configured socket path is unlinked unconditionally before binding, whatever file is there (ipc.rs:197).
• Availability: clients are served one at a time with no timeouts, so an idle client blocks everyone. An accept error ends the daemon. An oversized frame (> 1 MiB) gets an error reply without consuming its body, which desynchronizes the stream (contrary to the module docs).
• Fix:
  • Create the socket in a 0700 runtime directory with mode 0600 (or a group-restricted mode).
  • Check SO_PEERCRED against an allowed uid/gid.
  • Only unlink a path that is a socket.
  • Set per-connection read timeouts, or serve clients concurrently.
  • Close the connection on an oversized frame.
  • Survive accept errors.

F12 — ROS2 bridge trusts the whole DDS domain (Medium, A4)

• Read: any participant on the domain can read the latest payload of every bridged topic and every receipt.
• Write: any participant can inject observations on a managed topic. They're stored and gossiped as this robot's own (observe(..., None, now), tines-ros2/src/node.rs:197), with no rate limit.
• SROS2/DDS security isn't mentioned or configured anywhere.
• Likely self-echo loop: the node subscribes to the topics it publishes, with no filter for its own messages (node.rs:207-238). If DDS delivers its own publications back, which the default settings allow (not verified on hardware), each republish is re-observed with a new seq. That's a feedback loop that grows the log and floods the fleet.
• Fix:
  • Ignore local publications (ignore_local_publications or a publisher-GID filter).
  • Document running with SROS2 enclaves and a dedicated domain id.
  • Rate-limit inbound.
  • Bound the channel.

F13 — Smaller core defects (Low)

• Event queue drops newest, not oldest (let _ = self.events.push, exchange.rs:777), contrary to its docs and the fleet spec.
• Pending acks for a lost peer aren't purged on remove_peer. On send errors they're re-queued, and since acks go ahead of data, retries to a dead peer can starve data frames.
• Reassembler displacement: one fragment with a different id or count resets a peer's in-progress stream (frag.rs:121-133). Same-address only, so it's limited by F3/F6 binding.
• Trailing bytes: postcard::from_bytes accepts trailing bytes after a valid frame. That's harmless now, but the 1.0 vectors should pin rejection so the wire format is canonical.
• Fixed in fb71810, 506d880, 9362e9f, with Reassembler displacement accepted, per spec §10:
  • the event queue drops the oldest event;
  • removing a peer purges that peer's pending acks, and only its own (506d880; the first fix purged every peer's);
  • a frame, and a reassembled observation (9362e9f), must decode with no trailing bytes, or it's counted as Malformed;
  • displacement stays as it is: it's same-address only, and the transport binding (F3) plus the F6 pin limit who can do it.

F14 — Belief policies trust attacker-controlled fields (Medium; by design v1)

• LatestWins picks the smallest age_ms (belief.rs:36-39). An attacker sets age 0 to win any topic (see spec §2b).
• SelfFirst trusts obs.observer == me (belief.rs:75-77). A forged observation claiming to be from this robot beats everything. Signing in 1.1 fixes the observer claim. Until then, a host could refuse inbound observations whose observer is its own NodeId (a robot never needs to receive its own observations from a peer if it still holds them).
• First-copy-wins dedupe fixes age_ms, observed_at and lifetime_ms forever at a receiver (mem_store.rs:72-75). A huge lifetime_ms makes an addressed message effectively immortal.

F15 — No confidentiality, trackable robots (Low for v1; by design)

The BLE link is unencrypted, so world state and directives are readable by anyone in range. Each robot advertises a stable NodeId in cleartext and is discoverable (transport.rs:276-282), so it can be tracked across BLE address rotation. That's the design (the NodeId is the rendezvous). If tracking matters, 1.1+ needs rotating, keyed rendezvous identifiers.

F16 — The 16-byte id is unkeyed and truncated (Low, A1)

Ids are the first 128 bits of Blake2s-256 (64-bit collision resistance). Producing a collision with a specific existing id needs a second preimage, which is infeasible, so an attacker can't squat a particular id. Generic 64-bit collisions are within reach of a determined attacker, but only between two observations they produced themselves, which gains nothing. This is acceptable for dedupe. It's the reason spec §2a signs the full preimage, not the id.

F17 — Service clock is wall-clock seconds (Medium, A0)

tines/src/ipc.rs now_ms() returns as_secs() from SystemTime (ipc.rs:276-281). Core's Tick is monotonic milliseconds.

• Ages advance 1000× too slowly, so addressed lifetimes last 1000× too long.
• An NTP step backwards freezes ages, because they saturate.
• The store is opened at tick 0 while requests use epoch values, so the first read can add the whole epoch to every age.

Fix: use a monotonic millisecond clock (Instant since process start) everywhere in the host, and open the store with the same clock.

• Fixed: 6e2dc6f.

F18 — Hosts don't flush on a schedule (Medium, A0)

Found in the re-check at 89041ea. LogStore::flush writes the clock marker that carries age across a restart, and it's the only fsync for inserts and trims (log.rs module docs, "Durability contract").

• The service runs trim and flush only after POLL_CAP (64) polls that each stored something new (tines/src/ipc.rs:269-279 at 411daa0). The counter advances only while observations arrive, so a robot that is mostly offline, the normal case, may never flush.
• tines-ros2 never calls flush or trim.
• Even when it runs, flush wrote LogStore's own tick as the clock marker, and that tick advanced only when something new was inserted (tines-store/src/log.rs:698). On a quiet robot the marker was stale, and the time since the last insert was lost. Fixed in 1.0 (c42f5de): Store::flush(now) takes the caller's tick, so the marker is the true current time at every flush.
• Effect:
  • After a restart, every stored observation's age is folded only up to the last clock marker. Time since that marker is lost, so facts look fresher than they are and addressed messages outlive their lifetime_ms, by up to the whole previous uptime. That is F17's effect again, by another route.
  • On a power cut, observations inserted since the last flush can be lost. That includes a robot's own observations, though their seqs aren't reused.
• Fix: give flush the caller's now (proposed for 1.0: Store::flush(now) and Node::flush(now), replacing Node::store_mut), and flush and trim on a wall-time schedule (every flush_interval_ms, from the host's monotonic clock) in both hosts, and on clean shutdown. The fleet-fixes spec asked for "a scheduled flush". The trim defaults belong to host hardening (F10).
• Partly fixed in c42f5de, 06a0577, 039fbf7, e4544bf.
  • Store side, done. Store::flush(now) takes the caller's tick (c42f5de). LogStore implements it as the trait method, so Node::flush really writes the marker and fsyncs; before 06a0577 it hit the trait's no-op default. An earlier now is clamped to the store's time anchor.
  • Flush after first trusted time, done. Both hosts adopt trusted time through tines::trust::adopt_wall_clock (tines/src/trust.rs:90-108), which flushes right after the fold. So the first marker with a wall time reaches disk at once.
  • Snapshots. LogStore also rewrites the log at open and after the fold (decision I), so the fold's results survive a reboot.
  • Still open (host work):
    • The service's scheduled trim and flush are still tied to POLL_CAP productive polls (tines/src/ipc.rs:269-279).
    • tines-ros2 flushes only when it adopts trusted time, and never trims.
    • Neither host flushes on a timer or at clean shutdown. A quiet robot that loses power long after its last flush still under-counts the time since that flush.

F19 — Peer-derived trusted time is unauthenticated (Medium, A0/A1)

Added 2026-10-21, when the hosts gained the peer-time path (Task 10b). When a host has no local trusted clock, it estimates wall time from peers' observations (observed_at + age_ms, advanced by local ticks since the observation arrived), then folds it into the store once. Nothing authenticates that estimate.

• Effect:
  • A time too far ahead makes the fold over-count downtime: addressed messages expire early, facts look stale, and observed_at stamps run fast. That's availability loss, not integrity loss.
  • A time behind the last clock marker reads as "clock went backwards", which takes the unknown-downtime path: held addressed messages expire and broadcasts are floored. Also the safe direction.
  • A time behind the truth but still ahead of the marker under-counts the downtime, so held ages come out too young. That's the dangerous direction (spec §2b, §9). Honest estimates can land here, because age is a lower bound.
  • Before the 1.0 review, a forged observed_at = u64::MAX overflowed wall + elapsed in the hosts and the store: a panic in debug, a time near 1970 in release (review B3).
• Mitigated since 039fbf7, e4544bf, 4690bf9, 03b75f2:
  • Decision J: the latest estimate in a window. From the first plausible estimate, the host collects for peer_time_window_ms (default 10 s) and then adopts the latest one, so an honest undershoot loses to a better estimate. LogStore::peer_time_estimate returns the latest estimate among observations stored since this open. A forger gains nothing over the old smallest-age rule.
  • Plausibility bounds (review B3).
    • The hosts adopt only wall times between WALL_FLOOR_MS (2026-01-01Z) and WALL_CEILING_MS (floor + 100 years, about 2126). That applies to peers and to the system clock (tines::trust).
    • The store drops estimates outside LogStoreBuilder::plausible_wall_ms before choosing the latest, so a forged far-future estimate can't hide the honest ones. Both hosts set it.
    • The wall-time arithmetic saturates.
  • Local sources first. The service's trusted_clock = "system", and tines-ros2's new trust_system_clock / trust_wall_clock, both take priority over peers. A ROS2-only fleet now has a local source.
• Still open:
  • Peer time is unauthenticated until 1.1. Within the plausible range, a forger can still choose the time, and the window takes the latest estimate, forged or not.
  • A wrong-but-plausible time spreads. The robot stamps its own observations' observed_at from it, and peers without a trusted clock can adopt those stamps in turn.
  • The adopted time is corrected only at the next restart, or when a local trusted source arrives. Nothing corrects it while the host runs (decision J), and on the peer path it's adopted once per run.
• Mitigation for deployments: give every robot a local trusted source (RTC, GPS, or an NTP-synced clock with the service ordered after time-sync.target). Signing and verification in 1.1 close the forged case.

7. Threats by STRIDE, mapped to findings

	Threat	Status today	Findings	Planned mitigation
Spoofing	Impersonate a robot on the link	Trivial (A1)	F3, F6	Transport binding now; link auth (1.1)
	Forge an observation's observer	Trivial (A1, A3, A4)	F11, F12, F14	Host hardening now; signatures (1.1)
Tampering	Alter content in transit	No integrity (A1)	—	Signatures cover content (1.1)
	Alter age / lifetime	Unprotected	F14, §2b	1.1 threat-model decision
	Alter the log on disk	No integrity (A5)	F5	CRC now; MAC optional
Repudiation	Deny having said something	Unattributable	—	Signatures (1.1)
Information disclosure	Read world state / directives	Cleartext (A1, A4)	F12, F15	Out of scope v1; link encryption candidate
	Track robots	Stable NodeId adverts	F15	Rotating identifiers (post-1.1)
Denial of service	Lose custody traffic	Easy (A0!, A1)	F1, F7	Fix F1 now; link auth (1.1)
	Lock out peers / waste airtime	Easy (A1)	F8, F9	Eviction and rate limits now
	Exhaust memory / disk	Easy (A1, A4)	F10	Trim, bounded channels, quotas now
	Block local clients	Easy (A3)	F11	Timeouts, concurrency now
Elevation of privilege	Act as the robot from a local account	Any local user (A3)	F11	Socket permissions + peer creds now
	Act as the robot from the ROS graph	Any domain participant (A4)	F12	SROS2, domain isolation

8. The age question (for 1.1)

Spec §2b asks whether age_ms must be authenticated. This assessment supports its framing, and adds evidence:

• Today the question is moot. Everything is forgeable, and fixing F14 needs signatures first.
• After 1.1 signs content, age is the main remaining freshness lever: stale facts winning LatestWins, expired directives coming back to life, and fresh facts suppressed. For A1 it's fully exploitable without link authentication. For A2 it adds freshness attacks to what a bad carrier can already do by dropping.
• Recommendation for 1.1: link authentication (handshake plus per-frame tag), which removes A1 from age, acks, summaries and identity in one mechanism. Accept A2 age forgery as equivalent to carrier misbehaviour, and document it. Cross-check against signed observed_at where robots have clocks.

9. Test gaps

The sim covers honest-node custody properties and random garbage frames (tests/props.rs:281, tests/relay.rs). It doesn't cover:

• well-formed malicious frames: forged acks, spoofed from/observer, NodeId changes mid-contact (since 37ca04d the fuzz harness generates all three, but in the core harness only; the sim and the hosts don't);
• a store returning Full (F1) (covered since 2738de4: a unit test and the full-store custody sim property);
• summary floods and peer-table exhaustion (F8, F9) (covered since 37ca04d, 8ba1e86: the fuzz harness's adversarial mode replays summaries and floods the peer table from 3 × MAX_PEERS addresses, and the proptest twin checks recovery after PEER_IDLE_MS);
• reassembly abuse (now partly covered: the adversarial mode sends conflicting, repeated and out-of-order fragment streams);
• a full disk (LogStore corruption in the middle, oversized records, concurrent openers, and restart and seq continuity are covered since 848721a and 4718b6f);
• a quiet host restarting without having flushed (F18). tines-store now tests flushing through the trait, opening three times, and clamping (06a0577), but no host-level test covers a long quiet run;
• forged peer time beyond overflow and range checks: nothing tests a wrong-but-plausible estimate spreading through observed_at (F19);
• most of the hosts: IPC abuse, ROS2 injection and self-echo (F11, F12). The service now has a two-instance exchange test (d98895b), and tines-bt has mock-radio tests for framing, binding and contact events (7df9f41).

The 1.0 fuzz harness (spec §7) has an adversarial peer mode since 37ca04d, as well as random bytes: structured frames with chosen ids and identities, checked against the §7 and §10 properties. It runs nightly in CI (.github/workflows/fuzz.yml), with a proptest twin in the PR gate. The agreed fuzz budget hasn't been run and recorded yet.

10. Where each finding is being fixed

Findings	Where	Spec	Status
F1, F2, F5, F17	Fleet milestone (M3)	docs/superpowers/specs/2026-10-19-tines-fleet-fixes.md	Fixed (§1)
F3, F4	Fleet milestone (M3)	same	Partly fixed; the rest has no spec yet
F18	Store side: tines-core 1.0 and tines-store; timed and shutdown flushes: host work, with or before host hardening	1.0 spec §4, §9; none yet for the host part	Partly fixed (§1)
F10–F12	Host hardening, before a robot leaves the lab	docs/superpowers/specs/2026-10-19-tines-host-hardening.md	Open
F6, F8, F9, F13	tines-core 1.0	docs/superpowers/specs/2026-10-18-tines-1-0-design.md §10	Fixed (§1); F13's Reassembler displacement accepted
F19	Hosts and tines-store (decision J, plausibility bounds); authentication in 1.1	1.0 spec §9, decision J; §2a	Partly mitigated (§1)
F7, F14, §8	1.1 (threat model, link authentication, signing)	1.0 spec §2a, §2b	Open
F15, F16	Accepted for now	—	—

Mark each finding fixed here, with its commit, when it lands.

The remaining F3 work (one configured peer) and F18 are host-only. Neither blocks tines-core 1.0, but both block a fleet of more than two robots. F19's remainder waits for 1.1.

11. Recommendations, in order

1. Fleet milestone bugs (done 2026-10-19, except the F3 and F4 remainders):
   • F1 (ack only what was stored).
   • F2 (poll loop).
   • F3 (framing, listener, NodeId binding, Contact/Lost).
   • F4 (persist seq, flush).
   • F5 (CRC, recovery that skips rather than truncates, write cap, locking).
   • F17 (monotonic ms clock).
   • Each with a regression test.
2. Host follow-ups: the F3 multi-peer allowlist and the rest of F18 (timed and shutdown flushes in both hosts, and trim in tines-ros2). Small, and needed before more than two robots share a fleet. The F18 store side and the flush after first trusted time are done.
3. Host hardening before any robot leaves the lab:
   • F10 (trim, bounded channels, compaction).
   • F11 (socket permissions, peer creds, timeouts).
   • F12 (ignore own publications, SROS2 guidance, rate limits).
4. Core hardening (rides with 1.0): done on feat/tines-core-1-0 (2026-10-21), publish pending.
   • F8 (idle eviction, including silent and contact-only peers).
   • F9 (summary rate limit with slack; the rebuild skips what the peer's filter holds).
   • F13 (event drop-oldest, purge only the lost peer's acks, reject trailing bytes; displacement accepted).
   • F6 (refuse NodeId change within a contact).
5. 1.1:
   • Write the full threat model from §4/§8.
   • Choose link authentication.
   • Add signing per spec §2a (F14, F7), and authenticate peer time (F19).
   • Add "replace if better signed" dedupe.
6. Later: confidentiality and rotating rendezvous identifiers (F15), only if the deployment needs them.