I need to know if there is a thread with specified thread id. Probably I can look at all process's threads and see if it exists, or get all thread list with ps command and try to find thread in output, but isn't there a simpler way?
I'm assuming you are on Linux?
If you know the process id you can use the proc filesystem to figure out whether a certain thread exists or not.
Example:
Process ID $PID 14456
Thread ID $TID 14465
If the directory /proc/$PID/task/$TID
exists, the thread is running.
If you don't know the process ID you can let the shell do the globbing for you:
if [ -d /proc/*/task/$TID ]; then echo found; fi