Fix ui on mac (#1044)

* remove line_shader dead code

* fix glfwCreateWindow

* don't assert on ipc socket failure

* window now appears on mac

selfdrive/common/ipc.c

@@ -16,7 +16,7 @@ int ipc_connect(const char* socket_path) {
   int err;
 
   int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-  assert(sock >= 0);
+  if (sock < 0) return -1;
   struct sockaddr_un addr = {
     .sun_family = AF_UNIX,
   };

selfdrive/ui/linux.cc

@@ -25,9 +25,16 @@ FramebufferState* framebuffer_init(
     int *out_w, int *out_h) {
   glfwInit();
 
+#ifndef __APPLE__
   glfwWindowHint(GLFW_CLIENT_API, GLFW_OPENGL_ES_API);
   glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
   glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
+#else
+  glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+#endif
   glfwWindowHint(GLFW_RESIZABLE, 0);
   GLFWwindow* window;
   window = glfwCreateWindow(1920, 1080, "ui", NULL, NULL);
@@ -39,7 +46,7 @@ FramebufferState* framebuffer_init(
   glfwSwapInterval(0);
 
   // clear screen
-  glClearColor(0.2f, 0.2f, 0.2f, 1.0f );
+  glClearColor(0.2f, 0.2f, 0.2f, 1.0f);
   glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
   framebuffer_swap((FramebufferState*)window);
 
@@ -54,6 +61,7 @@ void framebuffer_set_power(FramebufferState *s, int mode) {
 
 void framebuffer_swap(FramebufferState *s) {
   glfwSwapBuffers((GLFWwindow*)s);
+  glfwPollEvents();
 }
 
 void touch_init(TouchState *s) {

selfdrive/ui/paint.cc

@@ -890,41 +890,46 @@ void ui_draw(UIState *s) {
   }
 }
 
+#ifdef NANOVG_GL3_IMPLEMENTATION
 static const char frame_vertex_shader[] =
-  "attribute vec4 aPosition;\n"
-  "attribute vec4 aTexCoord;\n"
+  "#version 150 core\n"
+  "in vec4 aPosition;\n"
+  "in vec4 aTexCoord;\n"
   "uniform mat4 uTransform;\n"
-  "varying vec4 vTexCoord;\n"
+  "out vec4 vTexCoord;\n"
   "void main() {\n"
   "  gl_Position = uTransform * aPosition;\n"
   "  vTexCoord = aTexCoord;\n"
   "}\n";
 
 static const char frame_fragment_shader[] =
+  "#version 150 core\n"
   "precision mediump float;\n"
   "uniform sampler2D uTexture;\n"
-  "varying vec4 vTexCoord;\n"
+  "out vec4 vTexCoord;\n"
+  "out vec4 outColor;\n"
   "void main() {\n"
-  "  gl_FragColor = texture2D(uTexture, vTexCoord.xy);\n"
+  "  outColor = texture(uTexture, vTexCoord.xy);\n"
   "}\n";
-
-static const char line_vertex_shader[] =
+#else
+static const char frame_vertex_shader[] =
   "attribute vec4 aPosition;\n"
-  "attribute vec4 aColor;\n"
+  "attribute vec4 aTexCoord;\n"
   "uniform mat4 uTransform;\n"
-  "varying vec4 vColor;\n"
+  "varying vec4 vTexCoord;\n"
   "void main() {\n"
   "  gl_Position = uTransform * aPosition;\n"
-  "  vColor = aColor;\n"
+  "  vTexCoord = aTexCoord;\n"
   "}\n";
 
-static const char line_fragment_shader[] =
+static const char frame_fragment_shader[] =
   "precision mediump float;\n"
   "uniform sampler2D uTexture;\n"
-  "varying vec4 vColor;\n"
+  "varying vec4 vTexCoord;\n"
   "void main() {\n"
-  "  gl_FragColor = vColor;\n"
+  "  gl_FragColor = texture2D(uTexture, vTexCoord.xy);\n"
   "}\n";
+#endif
 
 static const mat4 device_transform = {{
   1.0,  0.0, 0.0, 0.0,
@@ -985,13 +990,6 @@ void ui_nvg_init(UIState *s) {
   s->frame_texture_loc = glGetUniformLocation(s->frame_program, "uTexture");
   s->frame_transform_loc = glGetUniformLocation(s->frame_program, "uTransform");
 
-  s->line_program = load_program(line_vertex_shader, line_fragment_shader);
-  assert(s->line_program);
-
-  s->line_pos_loc = glGetAttribLocation(s->line_program, "aPosition");
-  s->line_color_loc = glGetAttribLocation(s->line_program, "aColor");
-  s->line_transform_loc = glGetUniformLocation(s->line_program, "uTransform");
-
   glViewport(0, 0, s->fb_w, s->fb_h);
 
   glDisable(GL_DEPTH_TEST);

selfdrive/ui/ui.hpp

@@ -199,10 +199,6 @@ typedef struct UIState {
   GLint frame_pos_loc, frame_texcoord_loc;
   GLint frame_texture_loc, frame_transform_loc;
 
-  GLuint line_program;
-  GLint line_pos_loc, line_color_loc;
-  GLint line_transform_loc;
-
   int rgb_width, rgb_height, rgb_stride;
   size_t rgb_buf_len;
   mat4 rgb_transform;