sas
Modularised monitoring, logging, and control of robots.
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sas_cpp Directory Reference

Directories

 		examples
 		src

Detailed Description

marinholab_sas_core

ROS-free C++ core of the SmartArmStack. This repository holds the pure C++ part of SmartArmStack/sas_core: everything that does not depend on ROS2 and does not depend on pybind11.

More information about SmartArmStack is available in smartarmstack.github.io.

Contents

  • include/marinholab/sas/core/ — public C++ headers (namespace marinholab::sas::core).
  • src/ — library implementation.
  • examples/ — C++ example programs (built by default).
  • docker/ — ubuntu:noble build environment and full test pipeline.
  • debian/ — Debian packaging (native source package).
  • tools/version.sh — rolling version computation.

The library depends on Eigen3 and dqrobotics.

Versioning

The project uses a rolling YY.MM.NN version:

  • YY.MM — the current month (e.g. 26.09 for September 2026).
  • NN — the number of commits since the version tag vYY.MM (e.g. v26.09); 00 when the tag does not exist yet.

The version is computed at build time by tools/version.sh; the first release after a new month starts at .00 and rolls forward with each commit.

Platform compatibility

  • Ubuntu / Linux — full support, including the real-time scheduling (ThreadManager priorities, CPU affinity) and the SCHED_FIFO example.
  • macOS — builds and runs. Real-time scheduling degrades gracefully: ThreadManager::apply_priority() / apply_cpu_affinity() are Linux-only (guarded by #ifdef __linux__), and the SCHED_FIFO example falls back to default scheduling.
  • Windows — the library builds. The POSIX-only parts of ThreadManager are guarded, and the SCHED_FIFO example compiles to a no-op timing loop. Build dqrobotics from source with vcpkg (its CMake expects the vcpkg toolchain).
Note
The Debian package is only produced on Ubuntu. On macOS/Windows use CMake directly or FetchContent.

Building (CMake)

cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build -j
  • A shared library (libmarinholab_sas_core.so) is built by default (the standard CMake BUILD_SHARED_LIBS variable).
  • For a static library instead: cmake -B build -DBUILD_SHARED_LIBS=OFF.
  • Example executables are built by default; disable with -DMARINHO_LAB_SAS_CORE_BUILD_EXAMPLES=OFF.

Prerequisites

  • Eigen3:
    • Ubuntu: apt-get install libeigen3-dev
    • macOS: brew install eigen
    • Windows: vcpkg install eigen3
  • dqrobotics:
    • Ubuntu: from the DQ Robotics PPA (add-apt-repository ppa:dqrobotics-dev/development && apt-get install libdqrobotics)
    • macOS / Windows: build from dqrobotics/cpp with CMake (cmake -S cpp -B cpp/build && cmake --build cpp/build && cmake --install cpp/build)
  • Note: the dqrobotics headers use <Eigen/Dense> without the eigen3/ prefix; if that does not resolve on your system, create the symlink ln -s /usr/include/eigen3/Eigen /usr/include/Eigen (Ubuntu only).

Using it from another CMake project

find_package(marinholab_sas_core REQUIRED)
target_link_libraries(your_target marinholab::sas::core)
#include <marinholab/sas/core/sas_clock.hpp>
marinholab::sas::core::Clock clock(0.01);
marinholab::sas::core::Clock
Clock utility for timing and statistics in control loops.
Definition sas_clock.hpp:49
sas_clock.hpp
Timing utilities for control loops and statistics collection.

Or as a subdirectory / FetchContent dependency:

include(FetchContent)
FetchContent_Declare(
marinholab_sas_core
GIT_REPOSITORY https://github.com/MarinhoLab/sas_cpp.git
GIT_TAG main
)
FetchContent_MakeAvailable(marinholab_sas_core)
target_link_libraries(your_target marinholab::sas::core)

Examples

Run them after building (all are bounded; they exit on their own):

./build/sas_core_example
./build/sas_clock_example
./build/sas_clock_sched_fifo_example
./build/thread_manager_example
./build/sas_robot_driver_example

Debian package

Build the .deb with the usual command:

bash tools/bump-changelog.sh # align the changelog with the rolling version
dpkg-buildpackage -us -uc -b

This produces ../libmarinholab-sas-core_<version>_<arch>.deb containing the shared library, the headers under /usr/include/marinholab/sas/core/ and the CMake package configuration under /usr/lib/cmake/marinholab_sas_core/, so installed consumers can find_package(marinholab_sas_core).

Docker

A full build-and-test environment on ubuntu:noble (CMake build, running all examples, the static-library toggle, and the Debian package) lives in docker/:

cd docker
docker compose run --rm marinholab_sas_core