This PR adds a new class to manage threads

cmake/cpplib.cmake

@@ -10,6 +10,7 @@ target_sources(sas_core_pure PRIVATE
     ${CMAKE_CURRENT_LIST_DIR}/../src/sas_robot_driver.cpp
     ${CMAKE_CURRENT_LIST_DIR}/../src/examples/sas_robot_driver_example.cpp
     ${CMAKE_CURRENT_LIST_DIR}/../src/eigen3_std_conversions.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_thread_manager.cpp
 )
 
 set_target_properties(sas_core_pure PROPERTIES

include/sas_core/sas_thread_manager.hpp

@@ -0,0 +1,110 @@
+/*
+# Copyright (c) 2022-2026 Murilo Marques Marinho
+#
+#    This file is part of sas_core.
+#
+#    sas_core is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_core is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_core.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjose.quirozomana@manchester.ac.uk
+#
+# ################################################################*/
+
+#pragma once
+#include <sas_core/sas_core.hpp>
+#include <sas_core/sas_clock.hpp>
+#include <functional>
+#include <thread>
+#include <atomic>
+#include <string>
+
+namespace sas
+{
+
+class thread_manager
+{
+public:
+    // PRIORITY levels
+    enum class PRIORITY {
+        LOWEST = 0,
+        BACKGROUND = 10,
+        NORMAL = 50,
+        HIGH = 80,
+        REALTIME = 90,
+        CRITICAL = 99
+    };
+
+
+
+private:
+    // Thread optimization parameters
+    PRIORITY priority_{PRIORITY::NORMAL};
+    int cpu_core_{-1};
+    void apply_priority();
+    void apply_cpu_affinity();
+
+
+protected:
+    sas::Clock clock_;
+    std::function<void()> loop_callback_;
+    std::thread thread_;
+    std::string thread_name_;
+    std::atomic<bool> running_{false};
+    std::atomic<bool> stop_requested_{false};
+
+protected:
+    void run();
+public:
+    ~thread_manager();
+
+    thread_manager(const thread_manager&) = delete;            // Copy constructor
+    thread_manager& operator=(const thread_manager&) = delete; // Copy assignment
+    thread_manager(thread_manager&&) = delete;                 // Move constructor
+    thread_manager& operator=(thread_manager&&) = delete;      // Move assignment
+
+    thread_manager(const std::string& thread_name,
+                   const double& period,
+                   std::function<void()> callback,
+                   PRIORITY priority = PRIORITY::NORMAL,
+                   int cpu_core = -1);
+
+
+
+    // Performance monitoring using sas::Clock
+    double get_computation_time() const;
+    double get_sleep_time() const;
+    double get_effective_sampling_time() const;
+    double get_elapsed_time_sec() const;
+    long   get_overrun_count() const;
+
+    // Statistics from sas::Clock
+    double get_statistics(const Statistics& statistics,
+                          const sas::Clock::TimeType& time_type) const;
+
+    // Lifecycle
+    void start();
+    void stop();
+    bool is_running() const;
+
+
+    // Getters
+    std::string get_thread_name() const;
+    PRIORITY get_priority() const;
+    int get_cpu_core() const;
+    double get_period() const;
+};
+
+}
+

src/examples/thread_manager_example.cpp

@@ -0,0 +1,45 @@
+/*
+# Copyright (c) 2016-2026 Murilo Marques Marinho
+#
+#    This file is part of sas_core.
+#
+#    sas_core is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_core is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_core.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+#
+# ################################################################*/
+
+#include <sas_core/sas_thread_manager.hpp>
+#include <iostream>
+#include <thread>
+
+int main() {
+    int counter = 0;
+
+    // Create and start thread
+    sas::thread_manager tm("test", 0.1, [&counter]() {
+        std::cout << ++counter << "\n";
+    });
+
+    tm.start();
+
+    // Run for 1 second
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // Clean up
+    tm.stop();
+    return 0;
+}