Modify command policy handling (#374)

# Purpose
Basically just makes a minor change to how command policies are
assigned/work.
Task:
https://uworbital.notion.site/Modify-command-policy-handling-aa594df7180d4bc2bb22db11193551c5

# New Changes
- When creating commands you just set the command policy to the most
restrictive policy you want. Rn all of our commands are available for
PROD anyways. But PROD is now a subset of RND, so all PROD commands will
work in RND.

# Testing
- Built and didn't break anything :)
- Confirmed the OBC_ACTIVE_POLICY build flag works and is accessible in
the code
- I actually don't know how to formally test this because its part of a
manager/task, so it's not like you can do unit tests. But the changes
are pretty minor so...

# Outstanding Changes
- N/A

Author: jordynmindorff

cmake/obc_build_options.cmake

@@ -21,8 +21,8 @@ if(NOT DEFINED ENABLE_BL_BYPASS)
     set(ENABLE_BL_BYPASS 1)
 endif()
 
-if (NOT DEFINED CMD_POLICY)
-    set(CMD_POLICY CMD_POLICY_RND)
+if (NOT DEFINED OBC_ACTIVE_POLICY)
+    set(OBC_ACTIVE_POLICY CMD_POLICY_RND)
 endif()
 
 if (NOT DEFINED COMMS_PHY)

obc/CMakeLists.txt

@@ -101,7 +101,7 @@ target_compile_definitions(${OUT_FILE_NAME} PRIVATE
     LOG_DEFAULT_LEVEL=${LOG_DEFAULT_LEVEL}
     LOG_DATE_TIME
     DEBUG=${DEBUG}
-    CMD_POLICY=${CMD_POLICY}
+    OBC_ACTIVE_POLICY=${OBC_ACTIVE_POLICY}
     COMMS_PHY=${COMMS_PHY}
     OBC_UART_BAUD_RATE=${OBC_UART_BAUD_RATE}
     CSDC_DEMO_ENABLED=${CSDC_DEMO_ENABLED}
@@ -181,7 +181,7 @@ target_compile_definitions(OBC-bl.out PRIVATE
     LOG_DEFAULT_OUTPUT_LOCATION=${LOG_DEFAULT_OUTPUT_LOCATION}
     LOG_DEFAULT_LEVEL=${LOG_DEFAULT_LEVEL}
     DEBUG=${DEBUG}
-    CMD_POLICY=${CMD_POLICY}
+    OBC_ACTIVE_POLICY=${OBC_ACTIVE_POLICY}
     COMMS_PHY=${COMMS_PHY}
     OBC_UART_BAUD_RATE=${OBC_UART_BAUD_RATE}
     CSDC_DEMO_ENABLED=${CSDC_DEMO_ENABLED}
@@ -212,7 +212,7 @@ target_compile_definitions(debug-tool.out PRIVATE
     LOG_DEFAULT_LEVEL=${LOG_DEFAULT_LEVEL}
     LOG_DATE_TIME
     DEBUG=${DEBUG}
-    CMD_POLICY=${CMD_POLICY}
+    OBC_ACTIVE_POLICY=${OBC_ACTIVE_POLICY}
     COMMS_PHY=${COMMS_PHY}
     OBC_UART_BAUD_RATE=${OBC_UART_BAUD_RATE}
     CSDC_DEMO_ENABLED=${CSDC_DEMO_ENABLED}

obc/app/modules/command_mgr/command_manager.c

@@ -27,15 +27,15 @@ typedef struct {
   cmd_opt_t opts;  // Mask of command options
 } cmd_info_t;
 
+// CMD_POLICY_PROD is a subset of CMD_POLICY_RND. That is, if a command has PROD policy, it can also be run in RND.
 static const cmd_info_t cmdsConfig[] = {
-    [CMD_END_OF_FRAME] = {NULL, CMD_POLICY_RND | CMD_POLICY_PROD, CMD_TYPE_NORMAL},
-    [CMD_EXEC_OBC_RESET] = {execObcResetCmdCallback, CMD_POLICY_RND | CMD_POLICY_PROD, CMD_TYPE_CRITICAL},
-    [CMD_RTC_SYNC] = {rtcSyncCmdCallback, CMD_POLICY_RND | CMD_POLICY_PROD, CMD_TYPE_NORMAL},
-    [CMD_DOWNLINK_LOGS_NEXT_PASS] = {downlinkLogsNextPassCmdCallback, CMD_POLICY_RND | CMD_POLICY_PROD,
-                                     CMD_TYPE_CRITICAL},
-    [CMD_MICRO_SD_FORMAT] = {microSDFormatCmdCallback, CMD_POLICY_RND | CMD_POLICY_PROD, CMD_TYPE_CRITICAL},
-    [CMD_PING] = {pingCmdCallback, CMD_POLICY_RND | CMD_POLICY_PROD, CMD_TYPE_NORMAL},
-    [CMD_DOWNLINK_TELEM] = {downlinkTelemCmdCallback, CMD_POLICY_RND | CMD_POLICY_PROD, CMD_TYPE_NORMAL}};
+    [CMD_END_OF_FRAME] = {NULL, CMD_POLICY_PROD, CMD_TYPE_NORMAL},
+    [CMD_EXEC_OBC_RESET] = {execObcResetCmdCallback, CMD_POLICY_PROD, CMD_TYPE_CRITICAL},
+    [CMD_RTC_SYNC] = {rtcSyncCmdCallback, CMD_POLICY_PROD, CMD_TYPE_NORMAL},
+    [CMD_DOWNLINK_LOGS_NEXT_PASS] = {downlinkLogsNextPassCmdCallback, CMD_POLICY_PROD, CMD_TYPE_CRITICAL},
+    [CMD_MICRO_SD_FORMAT] = {microSDFormatCmdCallback, CMD_POLICY_PROD, CMD_TYPE_CRITICAL},
+    [CMD_PING] = {pingCmdCallback, CMD_POLICY_PROD, CMD_TYPE_NORMAL},
+    [CMD_DOWNLINK_TELEM] = {downlinkTelemCmdCallback, CMD_POLICY_PROD, CMD_TYPE_NORMAL}};
 
 #define CMDS_CONFIG_SIZE (sizeof(cmdsConfig) / sizeof(cmd_info_t))
 
@@ -90,7 +90,7 @@ void obcTaskFunctionCommandMgr(void *pvParameters) {
       }
 
       // Check if the command is allowed to be executed
-      if (!(currCmdInfo.policy & OBC_ACTIVE_POLICY)) {
+      if (currCmdInfo.policy == CMD_POLICY_RND && OBC_ACTIVE_POLICY == CMD_POLICY_PROD) {
         LOG_ERROR_CODE(OBC_ERR_CODE_CMD_NOT_ALLOWED);
         continue;
       }