Add ClockSyncConfigurator for Unitree WebRTC

.github/workflows/code-cleanup.yml

@@ -1,8 +1,6 @@
 name: code-cleanup
 on:
   pull_request:
-    paths-ignore:
-      - '**.md'
 
 permissions:
   contents: write

dimos/core/blueprints.py

@@ -21,7 +21,10 @@
 import operator
 import sys
 from types import MappingProxyType
-from typing import Any, Literal, get_args, get_origin, get_type_hints
+from typing import TYPE_CHECKING, Any, Literal, get_args, get_origin, get_type_hints
+
+if TYPE_CHECKING:
+    from dimos.protocol.service.system_configurator.base import SystemConfigurator
 
 from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, is_module_type
@@ -109,6 +112,7 @@ class Blueprint:
         default_factory=lambda: MappingProxyType({})
     )
     requirement_checks: tuple[Callable[[], str | None], ...] = field(default_factory=tuple)
+    configurator_checks: "tuple[SystemConfigurator, ...]" = field(default_factory=tuple)
 
     @classmethod
     def create(cls, module: type[Module], *args: Any, **kwargs: Any) -> "Blueprint":
@@ -122,6 +126,7 @@ def transports(self, transports: dict[tuple[str, type], Any]) -> "Blueprint":
             global_config_overrides=self.global_config_overrides,
             remapping_map=self.remapping_map,
             requirement_checks=self.requirement_checks,
+            configurator_checks=self.configurator_checks,
         )
 
     def global_config(self, **kwargs: Any) -> "Blueprint":
@@ -131,6 +136,7 @@ def global_config(self, **kwargs: Any) -> "Blueprint":
             global_config_overrides=MappingProxyType({**self.global_config_overrides, **kwargs}),
             remapping_map=self.remapping_map,
             requirement_checks=self.requirement_checks,
+            configurator_checks=self.configurator_checks,
         )
 
     def remappings(
@@ -146,6 +152,7 @@ def remappings(
             global_config_overrides=self.global_config_overrides,
             remapping_map=MappingProxyType(remappings_dict),
             requirement_checks=self.requirement_checks,
+            configurator_checks=self.configurator_checks,
         )
 
     def requirements(self, *checks: Callable[[], str | None]) -> "Blueprint":
@@ -155,6 +162,17 @@ def requirements(self, *checks: Callable[[], str | None]) -> "Blueprint":
             global_config_overrides=self.global_config_overrides,
             remapping_map=self.remapping_map,
             requirement_checks=self.requirement_checks + tuple(checks),
+            configurator_checks=self.configurator_checks,
+        )
+
+    def configurators(self, *checks: "SystemConfigurator") -> "Blueprint":
+        return Blueprint(
+            blueprints=self.blueprints,
+            transport_map=self.transport_map,
+            global_config_overrides=self.global_config_overrides,
+            remapping_map=self.remapping_map,
+            requirement_checks=self.requirement_checks,
+            configurator_checks=self.configurator_checks + tuple(checks),
         )
 
     def _check_ambiguity(
@@ -202,6 +220,21 @@ def _all_name_types(self) -> set[tuple[str, type]]:
     def _is_name_unique(self, name: str) -> bool:
         return sum(1 for n, _ in self._all_name_types if n == name) == 1
 
+    def _run_configurators(self) -> None:
+        from dimos.protocol.service.system_configurator import configure_system, lcm_configurators
+
+        configurators = [*lcm_configurators(), *self.configurator_checks]
+
+        try:
+            configure_system(configurators)
+        except SystemExit:
+            labels = [type(c).__name__ for c in configurators]
+            print(
+                f"Required system configuration was declined: {', '.join(labels)}",
+                file=sys.stderr,
+            )
+            sys.exit(1)
+
     def _check_requirements(self) -> None:
         errors = []
         red = "\033[31m"
@@ -461,6 +494,7 @@ def build(
         if cli_config_overrides:
             global_config.update(**dict(cli_config_overrides))
 
+        self._run_configurators()
         self._check_requirements()
         self._verify_no_name_conflicts()
 
@@ -490,13 +524,15 @@ def autoconnect(*blueprints: Blueprint) -> Blueprint:
         reduce(operator.iadd, [list(x.remapping_map.items()) for x in blueprints], [])
     )
     all_requirement_checks = tuple(check for bs in blueprints for check in bs.requirement_checks)
+    all_configurator_checks = tuple(check for bs in blueprints for check in bs.configurator_checks)
 
     return Blueprint(
         blueprints=all_blueprints,
         transport_map=MappingProxyType(all_transports),
         global_config_overrides=MappingProxyType(all_config_overrides),
         remapping_map=MappingProxyType(all_remappings),
         requirement_checks=all_requirement_checks,
+        configurator_checks=all_configurator_checks,
     )
 
 

dimos/protocol/pubsub/benchmark/test_benchmark.py

@@ -29,6 +29,7 @@
     MsgGen,
     PubSubContext,
 )
+from dimos.utils.human import human_bytes
 
 # Message sizes for throughput benchmarking (powers of 2 from 64B to 10MB)
 MSG_SIZES = [
@@ -56,15 +57,6 @@
 RECEIVE_TIMEOUT = 1.0
 
 
-def size_id(size: int) -> str:
-    """Convert byte size to human-readable string for test IDs."""
-    if size >= 1048576:
-        return f"{size // 1048576}MB"
-    if size >= 1024:
-        return f"{size // 1024}KB"
-    return f"{size}B"
-
-
 def pubsub_id(testcase: Case[Any, Any]) -> str:
     """Extract pubsub implementation name from context manager function name."""
     name: str = testcase.pubsub_context.__name__
@@ -86,7 +78,9 @@ def benchmark_results() -> Generator[BenchmarkResults, None, None]:
 
 
 @pytest.mark.tool
-@pytest.mark.parametrize("msg_size", MSG_SIZES, ids=[size_id(s) for s in MSG_SIZES])
+@pytest.mark.parametrize(
+    "msg_size", MSG_SIZES, ids=[human_bytes(s, concise=True, decimals=0) for s in MSG_SIZES]
+)
 @pytest.mark.parametrize("pubsub_context, msggen", testcases, ids=[pubsub_id(t) for t in testcases])
 def test_throughput(
     pubsub_context: PubSubContext[Any, Any],

dimos/protocol/pubsub/benchmark/type.py

@@ -20,6 +20,7 @@
 from typing import Any, Generic
 
 from dimos.protocol.pubsub.spec import MsgT, PubSub, TopicT
+from dimos.utils.human import human_bytes, human_duration, human_number
 
 MsgGen = Callable[[int], tuple[TopicT, MsgT]]
 
@@ -41,33 +42,6 @@ def __len__(self) -> int:
 TestData = Sequence[Case[Any, Any]]
 
 
-def _format_mib(value: float) -> str:
-    """Format bytes as MiB with intelligent rounding.
-
-    >= 10 MiB: integer (e.g., "42")
-    1-10 MiB: 1 decimal (e.g., "2.5")
-    < 1 MiB: 2 decimals (e.g., "0.07")
-    """
-    mib = value / (1024**2)
-    if mib >= 10:
-        return f"{mib:.0f}"
-    if mib >= 1:
-        return f"{mib:.1f}"
-    return f"{mib:.2f}"
-
-
-def _format_iec(value: float, concise: bool = False, decimals: int = 2) -> str:
-    """Format bytes with IEC units (Ki/Mi/Gi = 1024^1/2/3)"""
-    k = 1024.0
-    units = ["B", "K", "M", "G", "T"] if concise else ["B", "KiB", "MiB", "GiB", "TiB"]
-
-    for unit in units[:-1]:
-        if abs(value) < k:
-            return f"{value:.{decimals}f}{unit}" if concise else f"{value:.{decimals}f} {unit}"
-        value /= k
-    return f"{value:.{decimals}f}{units[-1]}" if concise else f"{value:.{decimals}f} {units[-1]}"
-
-
 @dataclass
 class BenchmarkResult:
     transport: str
@@ -133,11 +107,13 @@ def print_summary(self) -> None:
             recv_style = "yellow" if r.receive_time > 0.1 else "dim"
             table.add_row(
                 r.transport,
-                _format_iec(r.msg_size_bytes, decimals=0),
+                human_bytes(r.msg_size_bytes, decimals=0),
                 f"{r.msgs_sent:,}",
                 f"{r.msgs_received:,}",
                 f"{r.throughput_msgs:,.0f}",
-                _format_mib(r.throughput_bytes),
+                (lambda m: f"{m:.2f}" if m < 1 else f"{m:.1f}" if m < 10 else f"{m:.0f}")(
+                    r.throughput_bytes / 1024**2
+                ),
                 f"[{recv_style}]{r.receive_time * 1000:.0f}ms[/{recv_style}]",
                 f"[{loss_style}]{r.loss_pct:.1f}%[/{loss_style}]",
             )
@@ -211,7 +187,7 @@ def val_to_color(v: float) -> int:
             return gradient[int(t * (len(gradient) - 1))]
 
         reset = "\033[0m"
-        size_labels = [_format_iec(s, concise=True, decimals=0) for s in sizes]
+        size_labels = [human_bytes(s, concise=True, decimals=0) for s in sizes]
         col_w = max(8, max(len(s) for s in size_labels) + 1)
         transport_w = max(len(t) for t in transports) + 1
 
@@ -236,31 +212,23 @@ def val_to_color(v: float) -> int:
     def print_heatmap(self) -> None:
         """Print msgs/sec heatmap."""
 
-        def fmt(v: float) -> str:
-            return f"{v / 1000:.1f}k" if v >= 1000 else f"{v:.0f}"
-
-        self._print_heatmap("Msgs/sec", lambda r: r.throughput_msgs, fmt)
+        self._print_heatmap("Msgs/sec", lambda r: r.throughput_msgs, human_number)
 
     def print_bandwidth_heatmap(self) -> None:
         """Print bandwidth heatmap."""
 
         def fmt(v: float) -> str:
-            return _format_iec(v, concise=True, decimals=1)
+            return human_bytes(v, concise=True, decimals=1)
 
         self._print_heatmap("Bandwidth (IEC)", lambda r: r.throughput_bytes, fmt)
 
     def print_latency_heatmap(self) -> None:
         """Print latency heatmap (time waiting for messages after publishing)."""
 
-        def fmt(v: float) -> str:
-            if v >= 1:
-                return f"{v:.1f}s"
-            return f"{v * 1000:.0f}ms"
-
         self._print_heatmap(
             "Latency",
             lambda r: r.receive_time,
-            fmt,
+            lambda v: human_duration(v, signed=False),
             high_is_good=False,
         )
 

dimos/protocol/service/lcmservice.py

@@ -24,15 +24,7 @@
 import lcm
 
 from dimos.protocol.service.spec import Service
-from dimos.protocol.service.system_configurator import (
-    BufferConfiguratorLinux,
-    BufferConfiguratorMacOS,
-    MaxFileConfiguratorMacOS,
-    MulticastConfiguratorLinux,
-    MulticastConfiguratorMacOS,
-    SystemConfigurator,
-    configure_system,
-)
+from dimos.protocol.service.system_configurator import configure_system, lcm_configurators
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -46,22 +38,9 @@
 
 
 def autoconf(check_only: bool = False) -> None:
-    # check multicast and buffer sizes
-    system = platform.system()
-    checks: list[SystemConfigurator] = []
-    if system == "Linux":
-        checks = [
-            MulticastConfiguratorLinux(loopback_interface="lo"),
-            BufferConfiguratorLinux(),
-        ]
-    elif system == "Darwin":
-        checks = [
-            MulticastConfiguratorMacOS(loopback_interface="lo0"),
-            BufferConfiguratorMacOS(),
-            MaxFileConfiguratorMacOS(),
-        ]
-    else:
-        logger.error(f"System configuration not supported on {system}")
+    checks = lcm_configurators()
+    if not checks:
+        logger.error(f"System configuration not supported on {platform.system()}")
         return
     configure_system(checks, check_only=check_only)
 

dimos/protocol/service/system_configurator/__init__.py

@@ -0,0 +1,75 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""System configurator package — re-exports for backward compatibility."""
+
+import platform
+
+from dimos.protocol.service.system_configurator.base import (
+    SystemConfigurator,
+    configure_system,
+    sudo_run,
+)
+from dimos.protocol.service.system_configurator.clock_sync import ClockSyncConfigurator
+from dimos.protocol.service.system_configurator.lcm import (
+    IDEAL_RMEM_SIZE,
+    BufferConfiguratorLinux,
+    BufferConfiguratorMacOS,
+    MaxFileConfiguratorMacOS,
+    MulticastConfiguratorLinux,
+    MulticastConfiguratorMacOS,
+)
+
+
+# TODO: This is a configurator API issue and inserted here temporarily
+#
+# We need to use different configurators based on the underlying OS
+#
+# We should have separation of concerns, nothing but configurators themselves care about the OS in this context
+#
+# So configurators with multi-os behavior should be responsible for the right per-OS behaviour, and
+# not external systems
+#
+# We might want to have some sort of recursive configurators
+#
+def lcm_configurators() -> list[SystemConfigurator]:
+    """Return the platform-appropriate LCM system configurators."""
+    system = platform.system()
+    if system == "Linux":
+        return [
+            MulticastConfiguratorLinux(loopback_interface="lo"),
+            BufferConfiguratorLinux(),
+        ]
+    elif system == "Darwin":
+        return [
+            MulticastConfiguratorMacOS(loopback_interface="lo0"),
+            BufferConfiguratorMacOS(),
+            MaxFileConfiguratorMacOS(),  # TODO: this is not LCM related and shouldn't be here at all
+        ]
+    return []
+
+
+__all__ = [
+    "IDEAL_RMEM_SIZE",
+    "BufferConfiguratorLinux",
+    "BufferConfiguratorMacOS",
+    "ClockSyncConfigurator",
+    "MaxFileConfiguratorMacOS",
+    "MulticastConfiguratorLinux",
+    "MulticastConfiguratorMacOS",
+    "SystemConfigurator",
+    "configure_system",
+    "lcm_configurators",
+    "sudo_run",
+]