Merge pull request #17 from JuliaControl/codegenfix

Faster code gen

Author: baggepinnen

src/SymbolicControlSystems.jl

@@ -350,6 +350,7 @@ $decl
         code *= "    y[0] += ($(sp.ccode(-n)))*y[$(i)];\n"
     end
     code *= "    return y[0];\n}"
+    code = replace(code, "₊" => "_")
     println(code)
     try
         clipboard(code)
@@ -367,10 +368,7 @@ function ccode(sys::StateSpace{<:Discrete}; cse = true, function_name = "transfe
     x = [Sym("x[$(i-1)]") for i = 1:nx]
     # @show P
     if ControlSystemsBase.numeric_type(sys) <: SymPy.Sym
-        P = Sym(sys)
-        vars = P.free_symbols
-        vars.remove(z)
-        vars = collect(vars)
+        vars = reduce(vcat, [collect(M.free_symbols) for M in (sys.A, sys.B, sys.C, sys.D)]) |> unique
         vars = sort(vars, by = string)
         var_str = ""
         for var in vars
@@ -434,7 +432,7 @@ $decl
         }
     """
     code *= "\n}"
-
+    code = replace(code, "₊" => "_")
     println(code)
     try
         clipboard(code)
@@ -544,14 +542,15 @@ end
 
 print_c_array(a::AbstractArray, args...; kwargs...) =
     print_c_array(stdout, a, args...; kwargs...)
-function print_c_array(io, a::AbstractVector, name = "vec"; cse = false, s = "", struct_name=nothing)
+function print_c_array(io, a::AbstractVector, name = "vec"; cse = false, s = "", struct_name=nothing, double=true)
     l = length(a)
     a = float.(a)
     if cse
         a = write_array_cse(io, a, name, s)
     end
     if struct_name === nothing
-        s == "" && println(io, "double $name[$l];")
+        ty = double ? "double" : "float"
+        s == "" && println(io, "$ty $name[$l];")
         struct_name = ""
     else
         struct_name = struct_name*"->"
@@ -561,14 +560,15 @@ function print_c_array(io, a::AbstractVector, name = "vec"; cse = false, s = "",
     end
     println(io)
 end
-function print_c_array(io, a::AbstractMatrix, name = "mat"; cse = false, s = "", struct_name=nothing)
+function print_c_array(io, a::AbstractMatrix, name = "mat"; cse = false, s = "", struct_name=nothing, double=true)
     r, c = size(a)
     a = float.(a)
     if cse
         a = write_array_cse(io, a, name, s)
     end
     if struct_name === nothing
-        s == "" && println(io, "double $name[$r][$c];")
+        ty = double ? "double" : "float"
+        s == "" && println(io, "$ty $name[$r][$c];")
         struct_name = ""
     else
         struct_name = struct_name*"->"
@@ -579,14 +579,15 @@ function print_c_array(io, a::AbstractMatrix, name = "mat"; cse = false, s = "",
     println(io)
 end
 
-function print_c_array(io, a::AbstractArray{<:Any,3}, name = "array"; cse = false, s = "", struct_name=nothing)
+function print_c_array(io, a::AbstractArray{<:Any,3}, name = "array"; cse = false, s = "", struct_name=nothing, double=true)
     r, c, d = size(a)
     a = float.(a)
     if cse
         a = write_array_cse(io, a, name, s)
     end
     if struct_name === nothing
-        s == "" && println(io, "double $name[$r][$c][$d];")
+        ty = double ? "double" : "float"
+        s == "" && println(io, "$ty $name[$r][$c][$d];")
         struct_name = ""
     else
         struct_name = struct_name*"->"