[docker] add option to access USB

- needs to run as priviliged container in order to access usb
- "cd docker && make bash_usb" gives you a shell with USB access on the host

docker/Makefile

@@ -8,6 +8,7 @@ help:
 	@echo "   1. make pull             - pull all pprz images"
 	@echo "   1. make clean            - remove all pprz images"
 	@echo "   2. make bash             - run bash on pprz-dev"
+	@echo "   2. make bash_usb         - run bash and enable USB"
 	@echo "   2. make paparazzi        - run paparazzi center on pprz-dev"
 	@echo ""
 
@@ -26,5 +27,9 @@ clean:
 bash:
 	@bash run.sh -i -t flixr/pprz-dev bash
 
+bash_usb:
+	@ENABLE_USB=1 bash ./run.sh -i -t flixr/pprz-dev bash
+
+
 paparazzi:
 	@bash run.sh -i -t flixr/pprz-dev ./paparazzi

docker/dev/Dockerfile

@@ -11,10 +11,11 @@ ENV PULSE_SERVER /run/pulse/native
 
 # add basic user
 ENV USERNAME pprz
+ENV USERGROUPS sudo,dialout
 RUN useradd -m $USERNAME && \
 	echo "$USERNAME:$USERNAME" | chpasswd && \
 	usermod --shell /bin/bash $USERNAME && \
-	usermod -aG sudo $USERNAME && \
+	usermod -aG $USERGROUPS $USERNAME && \
 	echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
 	chmod 0440 /etc/sudoers.d/$USERNAME && \
 	usermod --uid 1000 $USERNAME && \

docker/run.sh

@@ -4,10 +4,10 @@
 
 # if no arguments given, start with interactive terminal
 if test $# -lt 1; then
-	args="-t -i flixr/pprz-dev /sbin/my_init -- bash"
+    args="-t -i flixr/pprz-dev /sbin/my_init -- bash"
 else
-	# Use this script with derived images, and pass your 'docker run' args
+    # Use this script with derived images, and pass your 'docker run' args
-	args="$@"
+    args="$@"
 fi
 
 if [ -z "$PAPARAZZI_HOME" ]; then
@@ -26,19 +26,31 @@ XAUTH=/tmp/.docker.xauth
 touch $XAUTH
 xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
 
+# options to grant access to the Xserver
+X_WINDOW_OPTS="--volume=$XSOCK:$XSOCK --volume=$XAUTH:$XAUTH --env=XAUTHORITY=${XAUTH} --env=DISPLAY=${DISPLAY}"
+
+# pass audio to pulseaudio server on host
+PULSE_AUDIO_OPTS="--volume=/run/user/${USER_UID}/pulse:/run/pulse"
+
+# give the container access to USB, WARNING runs it as priviliged container!
+# use it if ENABLE_USB variable is non-empty/zero
+if [ -n "$ENABLE_USB" ]; then
+    echo "INFO: running as priviliged container to enable USB access!"
+    USB_OPTS="--privileged --volume=/dev/bus/usb:/dev/bus/usb"
+fi
+
+# share the paparazzi directory and set it as working directory
+SHARE_PAPARAZZI_HOME_OPTS="--volume=$PAPARAZZI_HOME:$PPRZ_HOME_CONTAINER \
+  --env=PAPARAZZI_HOME=$PPRZ_HOME_CONTAINER \
+  --env=PAPARAZZI_SRC=$PPRZ_HOME_CONTAINER \
+  -w $PPRZ_HOME_CONTAINER"
+
 docker run \
-	--rm \
+    ${X_WINDOW_OPTS} \
-	--volume=/run/user/${USER_UID}/pulse:/run/pulse \
+    ${PULSE_AUDIO_OPTS} \
-	--volume=$XSOCK:$XSOCK \
+    ${USB_OPTS} \
-	--volume=$XAUTH:$XAUTH \
+    ${SHARE_PAPARAZZI_HOME_OPTS} \
-	--env="XAUTHORITY=${XAUTH}" \
+    --rm $args
-	--env="DISPLAY=${DISPLAY}" \
-    --volume=$PAPARAZZI_HOME:$PPRZ_HOME_CONTAINER \
-    --env="PAPARAZZI_HOME=$PPRZ_HOME_CONTAINER" \
-    --env="PAPARAZZI_SRC=$PPRZ_HOME_CONTAINER" \
-	-u pprz \
-    -w $PPRZ_HOME_CONTAINER \
-	$args
 
 # cleanup XAUTHORITY file again
 rm -f $XAUTH