paparazzi/docker/run.sh

#!/bin/bash

#set -x

# if no arguments given, start with interactive terminal
if test $# -lt 1; then
    args="-t -i paparazziuav/pprz-dev"
else
    # Use this script with derived images, and pass your 'docker run' args
    args="$@"
fi

# check if running on Linux or OSX
UNAME=$(uname -s)

useX="${useX:-true}"

############################################################
# share this paparazzi directory with the container
############################################################

# set PAPARAZZI_SRC to this tree
# on OSX: readlink doesn't have the -f or -m options, try using pwd
if [ $UNAME == "Linux" ]; then
    SCRIPT=$(readlink -f $0)
    SCRIPT_DIR=$(dirname $(readlink -f $0))
    PAPARAZZI_SRC=$(readlink -m $SCRIPT_DIR/..)
else
    PAPARAZZI_SRC=$(dirname $(pwd))
fi

# PAPARAZZI_HOME inside the container
PPRZ_HOME_CONTAINER=/home/pprz/paparazzi
# share the paparazzi directory and set it as working directory
SHARE_PAPARAZZI_HOME_OPTS="--volume=$PAPARAZZI_SRC:$PPRZ_HOME_CONTAINER \
  --env=PAPARAZZI_HOME=$PPRZ_HOME_CONTAINER \
  --env=PAPARAZZI_SRC=$PPRZ_HOME_CONTAINER \
  -w $PPRZ_HOME_CONTAINER"


############################################################
# grant access to X-Server
############################################################
if [ $useX = "true" ]
then
    if [ $UNAME == "Linux" ]; then
        XSOCK=/tmp/.X11-unix
        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}"
    fi

    # using xauth with docker on OSX doesn't work, so we use socat:
    # see https://github.com/docker/docker/issues/8710
    if [ $UNAME == "Darwin" ]; then
        X_WINDOW_OPTS="--env=DISPLAY=192.168.99.1:0"
        TCPPROXY="socat TCP-LISTEN:6000,reuseaddr,fork UNIX-CLIENT:\"$DISPLAY\""
    fi
fi

############################################################
# Audio
############################################################
if [ $UNAME == "Linux" ]; then
    # pass audio to pulseaudio server on host
    USER_UID=$(id -u)
    PULSE_AUDIO_OPTS="--volume=/run/user/${USER_UID}/pulse:/run/pulse"
fi


############################################################
# USB
############################################################
# give the container access to USB, WARNING runs it as priviliged container!
# use it if ENABLE_USB variable is non-empty/zero
if [ -n "$PRIVILEGED_USB" ]; then
    echo "WARNING: running as priviliged container to enable complete USB access!"
    echo "Better pass devices explicitly: ./run.sh -i -t --device=/dev/ttyUSB0 paparazziuav/pprz-dev bash"
    USB_OPTS="--privileged --volume=/dev/bus/usb:/dev/bus/usb"
fi

# try to detect which USB devices to pass to the container automatically
# set DISABLE_USB=1 to turn it off
if [ -z "$DISABLE_USB" ]; then
    # get major/minor docker version without the dot
    DOCKER_VERSION=$(docker version | grep -m 1 Version: | awk '{print $2}' | cut -f1,2 -d. | tr -d .)
    # docker should support relative symlinks for --device options since 1.12
    if [ "$DOCKER_VERSION" -ge 112 ]; then
       # find on OSX doesn't have the -printf option... so use exec echo instead
        USB_OPTS=$(find /dev -maxdepth 2 \( -name "ttyACM?" -or -name "ttyUSB?" -or -name "bmp-*" -or -path /dev/paparazzi/* \) -exec echo -n "--device={} " \; 2> /dev/null)
    else
        USB_OPTS=$(find /dev -maxdepth 1 \( -name "ttyACM?" -or -name "ttyUSB?" \) -exec echo -n "--device={} " \; 2> /dev/null)
    fi
    if [ -n "$USB_OPTS" ]; then
        echo Passing auto-detected USB devices: $USB_OPTS
    fi
fi


############################################################
# Run it!
############################################################

if [ $UNAME == "Darwin" ]; then
    # start socat in background to forward the X socket via TCP
    $TCPPROXY &
fi

# run the docker container with all the fancy options
docker run \
    ${X_WINDOW_OPTS} \
    ${PULSE_AUDIO_OPTS} \
    ${USB_OPTS} \
    ${SHARE_PAPARAZZI_HOME_OPTS} \
    -e LOCAL_USER_ID=`id -u` \
    -e LOCAL_GROUP_ID=`id -g` \
    --rm $args

# remember exit status
EXIT_STATUS=$?

############################################################
# cleanup after exiting from docker container
############################################################

# cleanup XAUTHORITY file again
rm -f $XAUTH

# on OSX kill background socat process again
if [ $UNAME == "Darwin" ]; then
    pkill -f "$TCPPROXY"
fi

exit $EXIT_STATUS