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Merge branch 'min_filter_ring_buffer' into ci_impact_analysis_sensor_full

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This commit is contained in:
J. Nick Koston
2025-10-17 21:13:37 -10:00
parent 629bded07c fd32f6930e
commit 3f34de5d6e
2 changed files with 33 additions and 21 deletions
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46
esphome/components/sensor/filter.cpp
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@@ -65,32 +65,41 @@ optional<float> SlidingWindowFilter::new_value(float value) {
}
// SortedWindowFilter
FixedVector<float> SortedWindowFilter::get_sorted_values_() {
FixedVector<float> SortedWindowFilter::get_window_values_() {
// Copy window without NaN values using FixedVector (no heap allocation)
FixedVector<float> sorted_values;
sorted_values.init(this->window_count_);
// Returns unsorted values - caller will use std::nth_element for partial sorting as needed
FixedVector<float> values;
values.init(this->window_count_);
for (size_t i = 0; i < this->window_count_; i++) {
float v = this->window_[i];
if (!std::isnan(v)) {
sorted_values.push_back(v);
values.push_back(v);
}
}
std::sort(sorted_values.begin(), sorted_values.end());
return sorted_values;
return values;
}
// MedianFilter
float MedianFilter::compute_result() {
FixedVector<float> sorted_values = this->get_sorted_values_();
if (sorted_values.empty())
FixedVector<float> values = this->get_window_values_();
if (values.empty())
return NAN;
size_t size = sorted_values.size();
size_t size = values.size();
size_t mid = size / 2;
if (size % 2) {
return sorted_values[size / 2];
} else {
return (sorted_values[size / 2] + sorted_values[(size / 2) - 1]) / 2.0f;
// Odd number of elements - use nth_element to find middle element
std::nth_element(values.begin(), values.begin() + mid, values.end());
return values[mid];
}
// Even number of elements - need both middle elements
// Use nth_element to find upper middle element
std::nth_element(values.begin(), values.begin() + mid, values.end());
float upper = values[mid];
// Find the maximum of the lower half (which is now everything before mid)
float lower = *std::max_element(values.begin(), values.begin() + mid);
return (lower + upper) / 2.0f;
}
// SkipInitialFilter
@@ -111,13 +120,16 @@ QuantileFilter::QuantileFilter(size_t window_size, size_t send_every, size_t sen
: SortedWindowFilter(window_size, send_every, send_first_at), quantile_(quantile) {}
float QuantileFilter::compute_result() {
FixedVector<float> sorted_values = this->get_sorted_values_();
if (sorted_values.empty())
FixedVector<float> values = this->get_window_values_();
if (values.empty())
return NAN;
size_t position = ceilf(sorted_values.size() * this->quantile_) - 1;
ESP_LOGVV(TAG, "QuantileFilter(%p)::position: %zu/%zu", this, position + 1, sorted_values.size());
return sorted_values[position];
size_t position = ceilf(values.size() * this->quantile_) - 1;
ESP_LOGVV(TAG, "QuantileFilter(%p)::position: %zu/%zu", this, position + 1, values.size());
// Use nth_element to find the quantile element (O(n) instead of O(n log n))
std::nth_element(values.begin(), values.begin() + position, values.end());
return values[position];
}
// MinFilter

8
esphome/components/sensor/filter.h
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@@ -95,17 +95,17 @@ class MinMaxFilter : public SlidingWindowFilter {
/** Base class for filters that need a sorted window (Median, Quantile).
*
* Extends SlidingWindowFilter to provide a helper that creates a sorted copy
* of non-NaN values from the window.
* Extends SlidingWindowFilter to provide a helper that filters out NaN values.
* Derived classes use std::nth_element for efficient partial sorting.
*/
class SortedWindowFilter : public SlidingWindowFilter {
public:
using SlidingWindowFilter::SlidingWindowFilter;
protected:
/// Helper to get sorted non-NaN values from the window
/// Helper to get non-NaN values from the window (not sorted - caller will use nth_element)
/// Returns empty FixedVector if all values are NaN
FixedVector<float> get_sorted_values_();
FixedVector<float> get_window_values_();
};
/** Simple quantile filter.