Update benchmarks and transition to krunkit for macOS engine - #60
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- Revised benchmarks in `BENCHMARKS.md` to reflect performance comparisons of Calf, Docker Desktop, and OrbStack on macOS using the new krunkit engine. - Updated `CHANGELOG.md` to document the addition of the krunkit macOS engine and changes in runtime behavior. - Adjusted references in documentation and code to replace vfkit with krunkit, including updates to the Makefile and various source files. - Enhanced the development documentation to guide users on the new krunkit stack installation and usage. This commit marks a significant shift in the macOS engine architecture, aiming for improved performance and resource management.
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📝 WalkthroughWalkthroughThis PR migrates the macOS runtime from vfkit to krunkit with gvproxy, adds guest-disk packaging and DAX tooling, refactors benchmark orchestration, updates application bundling and startup synchronization, and aligns documentation and release metadata with version 0.9.8. ChangesKrunkit macOS runtime migration
Estimated code review effort: 5 (Critical) | ~120 minutes Possibly related PRs
Sequence Diagram(s)sequenceDiagram
participant CalfApp
participant CalfDaemon
participant Krunkit
participant Gvproxy
participant DockerAPI
CalfApp->>CalfDaemon: Start daemon
CalfDaemon->>Krunkit: EnsureRuntimeRunning
Krunkit->>Gvproxy: Start networking and forwarding API
Krunkit->>DockerAPI: Boot guest and wait for readiness
DockerAPI-->>Krunkit: API ready
Krunkit->>Gvproxy: Synchronize published container ports
Krunkit-->>CalfDaemon: Runtime ready
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✨ Finishing Touches🧪 Generate unit tests (beta)
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Actionable comments posted: 13
🧹 Nitpick comments (5)
scripts/spikes/patches/libkrun-fs-worker.rs (1)
234-244: 🩺 Stability & Availability | 🔵 Trivial | ⚡ Quick winReturn epoll registration failures from
queue_loop.The
ctl(Add, ...)results for bothqueue_evtandstop_fdare discarded, so anepoll_waitfailure can only occur whileQUEUE_TAGis absent. That leaves the thread blocked only onstop_fdinstead of processing its virtqueue. Propagate the registration error and abort the loop/setup rather than silently swallowing it.🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@scripts/spikes/patches/libkrun-fs-worker.rs` around lines 234 - 244, The queue_loop epoll setup currently discards registration failures for queue_evt and stop_fd. Update both epoll.ctl calls to propagate errors from queue_loop and abort setup before entering the wait loop, preserving normal registration behavior when both succeed.backend/internal/runtime/krunkit_darwin.go (1)
43-57: 📐 Maintainability & Code Quality | 🔵 Trivial | 💤 Low valueAdd doc comments to the new exported/unexported funcs.
krunkitPidPath,gvproxyPidPath,gvproxySockPath,gvproxyAPISockPath(andkrunkitAlive/gvproxyAliveat Lines 123-129) lack the required//doc comment immediately above the declaration. As per coding guidelines: "Every Go function and method must have an English//doc comment immediately above its declaration."🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@backend/internal/runtime/krunkit_darwin.go` around lines 43 - 57, Add an English // doc comment immediately above each declaration of krunkitPidPath, gvproxyPidPath, gvproxySockPath, gvproxyAPISockPath, krunkitAlive, and gvproxyAlive, describing the function’s purpose without changing their behavior.Source: Coding guidelines
scripts/guest-image/build-guest.sh (1)
13-13: 📐 Maintainability & Code Quality | 🔵 Trivial | 💤 Low valueDrop the unused
ROOT_DIRassignment.
ROOT_DIRis only assigned and never referenced elsewhere inscripts/guest-image/build-guest.sh, so remove it to fix the SC2034 warning.🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@scripts/guest-image/build-guest.sh` at line 13, Remove the unused ROOT_DIR assignment from build-guest.sh, leaving SCRIPT_DIR and the remaining build logic unchanged.Source: Linters/SAST tools
scripts/guest-image/guest-provision.yaml (1)
108-108: 🩺 Stability & Availability | 🔵 Trivial | ⚡ Quick winDo not downgrade every virtiofs failure to non-DAX.
The unconditional
||suppresses the first mount error and falls back for unrelated failures such as a missing share or invalid mount setup. Limit fallback to a confirmed unsupported-DAX case; otherwise preserve and surface the original failure.🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@scripts/guest-image/guest-provision.yaml` at line 108, Update the ExecStart virtiofs mount command to retry without DAX only when the first mount fails specifically because DAX is unsupported; preserve and surface the original error for missing shares, invalid configuration, or other failures. Keep the existing non-DAX fallback unchanged once that condition is confirmed.Sources: Coding guidelines, Learnings
scripts/bundle-krunkit-macos.sh (1)
55-66: 📐 Maintainability & Code Quality | 🔵 Trivial | ⚡ Quick winRemove the blanket
install_name_toolerror suppression.Line 59 hides malformed-binary and rewrite failures. Inspect the current libkrun install name first, then rewrite only when needed; let an attempted rewrite failure stop bundling.
🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@scripts/bundle-krunkit-macos.sh` around lines 55 - 66, Update the libkrun rewrite logic around the initial install_name_tool call to inspect the current dependency first and invoke install_name_tool only when its path differs from `@loader_path/`../lib/libkrun.1.dylib. Remove the blanket error suppression so any attempted rewrite failure propagates and stops bundling, while preserving the existing handling for absolute Homebrew-style paths.Sources: Coding guidelines, Learnings
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@backend/internal/daemon/runtime_ready.go`:
- Around line 17-18: Update the startup coordination around runtimeStartMu so
callers do not wait unconditionally for an active VM startup. Represent the
in-flight start with a shared completion channel and result, then select between
startup completion and the caller’s ctx.Done(), returning promptly when the
context is canceled while preserving shared startup-result handling for
concurrent callers.
In `@backend/internal/runtime/krunkit_darwin.go`:
- Around line 157-159: Update the ensureGuestDisk call in Krunkit.Start to
derive the guest-disk download context from a background or otherwise
longer-lived parent, allowing its intended 45-minute timeout to apply
independently of startCtx’s 3-minute deadline; preserve the existing startCtx
for the remaining startup flow.
- Around line 359-369: Remove the cmd.ProcessState != nil condition from the
early-exit check in the gvproxy startup loop. Use gvproxyAlive() alone to detect
that gvproxy exited before creating the sockets, while preserving the existing
error message and socket readiness checks.
In `@BENCHMARKS.md`:
- Around line 31-33: Replace the persistent sudoers installation instructions in
the benchmark setup with a safer flow: authenticate once using sudo -v before
running the benchmark, or create a narrowly scoped temporary rule that is
validated with visudo and removed immediately afterward. Do not leave any
passwordless sudo configuration in /etc/sudoers.d/.
In `@CHANGELOG.md`:
- Around line 12-18: Rewrite the v0.9.8 changelog entry in user-facing terms,
removing implementation details such as component/library names, source
filenames, build commands, filesystem paths, and protocol jargon. Describe only
the observable macOS improvements: faster startup and file operations, reliable
guest disk persistence, and container port networking through the host.
In `@DEVELOPMENT.md`:
- Around line 67-77: Remove the “Docker attach/stdout can be empty” limitation
from the migration documentation and fix the underlying stream-forwarding path
used by Docker attach and stdout over vsock. Add an end-to-end regression test
covering non-empty container output; if the operation cannot be supported, make
it return a precise unsupported-operation error rather than an empty successful
response.
In `@ROADMAP.md`:
- Around line 176-178: Update the Phase 4 roadmap entries for warm starts, cold
starts, and image/layer caching to remove Lima-specific wording and describe
current engine-neutral behavior, or explicitly label them as historical. Keep
the documented performance and persistence criteria accurate for the current
krunkit-only macOS runtime.
- Around line 225-226: Update the ROADMAP.md success metrics to match the
corresponding cold-start and idle-RAM values documented in BENCHMARKS.md: 8.0 s
for cold start to the first container and 0.07 GB idle RAM. If the roadmap
metrics intentionally use a different measurement scope, rename or clarify the
metric labels so the scopes are distinct rather than contradictory.
In `@scripts/benchmarks/_common.sh`:
- Around line 525-537: Make scripts/benchmarks/_common.sh and
scripts/benchmarks/run-all.sh safe under set -u when runtime_env is empty by
replacing its direct array expansion with the compatible empty-array-safe form,
or enforce Bash 4.4+ before execution. Apply the fix to every runtime_env
expansion in the benchmark startup paths, preserving behavior when the array
contains environment entries.
In `@scripts/benchmarks/run-all.sh`:
- Around line 215-244: Replace the side-effecting should_skip_product checks in
resume_all_vms and pause_other_vms with the pure product_installed check, while
preserving the existing skip behavior for unavailable products and the
keep-product handling.
In `@scripts/guest-image/pack-guest-disk.sh`:
- Around line 41-49: Align the EFI asset naming between the release output in
pack-guest-disk.sh and the lookup performed by unpack-guest-disk.sh. Ensure the
emitted EFI file is discoverable by the unpack script, either by using its
expected adjacent filename or by updating the unpack logic to resolve the
architecture-specific name while preserving EFI restoration.
In `@scripts/spikes/install-krunkit-stack.sh`:
- Around line 115-137: Enforce exact substitution counts for both patches in the
read/writeback patching block: assert that the read-path target replacement
occurs exactly once when the marker is absent, and assert that n3 equals one
after the writeback substitution. Raise an error on any mismatch before writing
the patched file or reporting success, matching the failure behavior of sibling
patches.
In `@ui/macos/Runner.xcodeproj/project.pbxproj`:
- Line 341: Update the Krunkit bundling block in the Xcode build shell script to
propagate failures from bundle-krunkit-macos.sh instead of swallowing them with
“|| echo”. Keep the existing executable check, but make a distributable build
fail when the bundling script runs unsuccessfully or required runtime resources
are unavailable.
---
Nitpick comments:
In `@backend/internal/runtime/krunkit_darwin.go`:
- Around line 43-57: Add an English // doc comment immediately above each
declaration of krunkitPidPath, gvproxyPidPath, gvproxySockPath,
gvproxyAPISockPath, krunkitAlive, and gvproxyAlive, describing the function’s
purpose without changing their behavior.
In `@scripts/bundle-krunkit-macos.sh`:
- Around line 55-66: Update the libkrun rewrite logic around the initial
install_name_tool call to inspect the current dependency first and invoke
install_name_tool only when its path differs from
`@loader_path/`../lib/libkrun.1.dylib. Remove the blanket error suppression so any
attempted rewrite failure propagates and stops bundling, while preserving the
existing handling for absolute Homebrew-style paths.
In `@scripts/guest-image/build-guest.sh`:
- Line 13: Remove the unused ROOT_DIR assignment from build-guest.sh, leaving
SCRIPT_DIR and the remaining build logic unchanged.
In `@scripts/guest-image/guest-provision.yaml`:
- Line 108: Update the ExecStart virtiofs mount command to retry without DAX
only when the first mount fails specifically because DAX is unsupported;
preserve and surface the original error for missing shares, invalid
configuration, or other failures. Keep the existing non-DAX fallback unchanged
once that condition is confirmed.
In `@scripts/spikes/patches/libkrun-fs-worker.rs`:
- Around line 234-244: The queue_loop epoll setup currently discards
registration failures for queue_evt and stop_fd. Update both epoll.ctl calls to
propagate errors from queue_loop and abort setup before entering the wait loop,
preserving normal registration behavior when both succeed.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: defaults
Review profile: CHILL
Plan: Pro Plus
Run ID: d2fb80a6-7794-40a8-a939-c5a69b1b4a5f
📒 Files selected for processing (39)
.cursor/rules/calf.mdc.github/workflows/release.ymlBENCHMARKS.mdCHANGELOG.mdCLAUDE.mdDEVELOPMENT.mdMakefileROADMAP.mdbackend/cmd/calf/main.gobackend/cmd/calf/watchdog_unix.gobackend/cmd/calf/watchdog_windows.gobackend/internal/constants/constants.gobackend/internal/daemon/core.gobackend/internal/daemon/migrate.gobackend/internal/daemon/runtime_ready.gobackend/internal/migration/disk.gobackend/internal/runtime/command_error.gobackend/internal/runtime/guest_darwin.gobackend/internal/runtime/guest_disk_fetch_darwin.gobackend/internal/runtime/krunkit_darwin.gobackend/internal/runtime/select_darwin.gobackend/internal/runtime/select_other.gobackend/test/runtime/guest_disk_zstd_test.gobackend/version/version.godocs/phase5-race.mdscripts/benchmarks/_common.shscripts/benchmarks/measure-product.shscripts/benchmarks/run-all.shscripts/bundle-krunkit-macos.shscripts/guest-image/build-guest.shscripts/guest-image/guest-provision.yamlscripts/guest-image/pack-guest-disk.shscripts/guest-image/prepare-guest-disk.shscripts/guest-image/unpack-guest-disk.shscripts/spikes/build-krunkit-dax.shscripts/spikes/install-krunkit-stack.shscripts/spikes/patches/libkrun-fs-worker.rsui/macos/Runner.xcodeproj/project.pbxprojui/pubspec.yaml
💤 Files with no reviewable changes (1)
- docs/phase5-race.md
Comment on lines
+41
to
+49
| RELEASE_DISK="${DIST_DIR}/calf-guest-disk-${ARCH}.raw.zst" | ||
| cp "$OUT" "$RELEASE_DISK" | ||
| echo "release asset: $RELEASE_DISK" | ||
| if [[ -n "$EFI_OUT" ]]; then | ||
| RELEASE_EFI="${DIST_DIR}/calf-vfkit-efi-${ARCH}.zst" | ||
| RELEASE_EFI="${DIST_DIR}/calf-guest-efi-${ARCH}.zst" | ||
| cp "$EFI_OUT" "$RELEASE_EFI" | ||
| echo "release asset: $RELEASE_EFI" | ||
| fi | ||
| echo "users extract with scripts/guest-image/unpack-vfkit-disk.sh or Calf first-run download" | ||
| echo "users extract with scripts/guest-image/unpack-guest-disk.sh or Calf first-run download" |
There was a problem hiding this comment.
🎯 Functional Correctness | 🟡 Minor | ⚡ Quick win
Make the release EFI asset discoverable by the unpack script.
unpack-guest-disk.sh looks for efi-store.zst, but this emits calf-guest-efi-${ARCH}.zst. Users following Line 49 after downloading release assets therefore skip EFI restoration. Either emit the expected adjacent name or update unpacking to derive the architecture-specific EFI filename.
🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
In `@scripts/guest-image/pack-guest-disk.sh` around lines 41 - 49, Align the EFI
asset naming between the release output in pack-guest-disk.sh and the lookup
performed by unpack-guest-disk.sh. Ensure the emitted EFI file is discoverable
by the unpack script, either by using its expected adjacent filename or by
updating the unpack logic to resolve the architecture-specific name while
preserving EFI restoration.
- Updated `BENCHMARKS.md` to clarify the requirements for passwordless purge and provided alternative methods for running benchmarks. - Revised `CHANGELOG.md` to reflect improvements in macOS engine performance and changes in guest disk persistence. - Improved runtime management in the daemon by implementing a shared completion mechanism for starting the runtime, allowing concurrent calls to return promptly. - Added new PID file management functions for `krunkit` and `gvproxy` to enhance process monitoring. - Updated various scripts to improve installation and runtime behavior, including adjustments to guest image provisioning and benchmark execution. These changes aim to streamline the user experience and improve performance metrics for the macOS engine.
There was a problem hiding this comment.
Actionable comments posted: 1
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@scripts/guest-image/guest-provision.yaml`:
- Around line 97-114: Indent the entire heredoc content for calf-mount-virtiofs,
including the shebang, shell commands, case block, EOF marker, and chmod
context, to the same YAML indentation level required under script: | so
guest-provision.yaml parses and provisions correctly.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: defaults
Review profile: CHILL
Plan: Pro Plus
Run ID: 85eb3435-4d84-4477-81c7-fbf5dce1dea7
📒 Files selected for processing (15)
BENCHMARKS.mdCHANGELOG.mdROADMAP.mdbackend/internal/daemon/core.gobackend/internal/daemon/runtime_ready.gobackend/internal/runtime/krunkit_darwin.goscripts/benchmarks/_common.shscripts/benchmarks/run-all.shscripts/bundle-krunkit-macos.shscripts/guest-image/build-guest.shscripts/guest-image/guest-provision.yamlscripts/guest-image/unpack-guest-disk.shscripts/spikes/install-krunkit-stack.shscripts/spikes/patches/libkrun-fs-worker.rsui/macos/Runner.xcodeproj/project.pbxproj
💤 Files with no reviewable changes (1)
- scripts/guest-image/build-guest.sh
🚧 Files skipped from review as they are similar to previous changes (11)
- ui/macos/Runner.xcodeproj/project.pbxproj
- scripts/guest-image/unpack-guest-disk.sh
- CHANGELOG.md
- scripts/spikes/patches/libkrun-fs-worker.rs
- scripts/bundle-krunkit-macos.sh
- backend/internal/runtime/krunkit_darwin.go
- BENCHMARKS.md
- scripts/spikes/install-krunkit-stack.sh
- ROADMAP.md
- scripts/benchmarks/_common.sh
- scripts/benchmarks/run-all.sh
Comment on lines
+97
to
+114
| cat > /usr/local/sbin/calf-mount-virtiofs <<'EOF' | ||
| #!/bin/sh | ||
| set -e | ||
| mkdir -p /mnt/calf | ||
| if err=$(mount -t virtiofs -o dax=always,noatime calf-mounts /mnt/calf 2>&1); then | ||
| exit 0 | ||
| fi | ||
| case "$err" in | ||
| *dax*|*Invalid*argument*|*invalid*argument*|*Operation*not*supported*|*operation*not*supported*) | ||
| exec mount -t virtiofs -o noatime calf-mounts /mnt/calf | ||
| ;; | ||
| *) | ||
| echo "$err" >&2 | ||
| exit 1 | ||
| ;; | ||
| esac | ||
| EOF | ||
| chmod +x /usr/local/sbin/calf-mount-virtiofs |
There was a problem hiding this comment.
🎯 Functional Correctness | 🔴 Critical | ⚡ Quick win
Indent the heredoc inside the YAML block scalar.
Lines 98-113 are outside script: |, so this file cannot be parsed or provisioned. Indent every heredoc line to the same YAML level as line 97.
Proposed fix
cat > /usr/local/sbin/calf-mount-virtiofs <<'EOF'
-#!/bin/sh
-set -e
-mkdir -p /mnt/calf
-if err=$(mount -t virtiofs -o dax=always,noatime calf-mounts /mnt/calf 2>&1); then
- exit 0
-fi
-case "$err" in
- *dax*|*Invalid*argument*|*invalid*argument*|*Operation*not*supported*|*operation*not*supported*)
- exec mount -t virtiofs -o noatime calf-mounts /mnt/calf
- ;;
- *)
- echo "$err" >&2
- exit 1
- ;;
-esac
-EOF
+ #!/bin/sh
+ set -e
+ mkdir -p /mnt/calf
+ if err=$(mount -t virtiofs -o dax=always,noatime calf-mounts /mnt/calf 2>&1); then
+ exit 0
+ fi
+ case "$err" in
+ *dax*|*Invalid*argument*|*invalid*argument*|*Operation*not*supported*|*operation*not*supported*)
+ exec mount -t virtiofs -o noatime calf-mounts /mnt/calf
+ ;;
+ *)
+ echo "$err" >&2
+ exit 1
+ ;;
+ esac
+ EOF📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
Suggested change
| cat > /usr/local/sbin/calf-mount-virtiofs <<'EOF' | |
| #!/bin/sh | |
| set -e | |
| mkdir -p /mnt/calf | |
| if err=$(mount -t virtiofs -o dax=always,noatime calf-mounts /mnt/calf 2>&1); then | |
| exit 0 | |
| fi | |
| case "$err" in | |
| *dax*|*Invalid*argument*|*invalid*argument*|*Operation*not*supported*|*operation*not*supported*) | |
| exec mount -t virtiofs -o noatime calf-mounts /mnt/calf | |
| ;; | |
| *) | |
| echo "$err" >&2 | |
| exit 1 | |
| ;; | |
| esac | |
| EOF | |
| chmod +x /usr/local/sbin/calf-mount-virtiofs | |
| cat > /usr/local/sbin/calf-mount-virtiofs <<'EOF' | |
| #!/bin/sh | |
| set -e | |
| mkdir -p /mnt/calf | |
| if err=$(mount -t virtiofs -o dax=always,noatime calf-mounts /mnt/calf 2>&1); then | |
| exit 0 | |
| fi | |
| case "$err" in | |
| *dax*|*Invalid*argument*|*invalid*argument*|*Operation*not*supported*|*operation*not*supported*) | |
| exec mount -t virtiofs -o noatime calf-mounts /mnt/calf | |
| ;; | |
| *) | |
| echo "$err" >&2 | |
| exit 1 | |
| ;; | |
| esac | |
| EOF | |
| chmod +x /usr/local/sbin/calf-mount-virtiofs |
🧰 Tools
🪛 YAMLlint (1.37.1)
[error] 100-100: syntax error: could not find expected ':'
(syntax)
🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
In `@scripts/guest-image/guest-provision.yaml` around lines 97 - 114, Indent the
entire heredoc content for calf-mount-virtiofs, including the shebang, shell
commands, case block, EOF marker, and chmod context, to the same YAML
indentation level required under script: | so guest-provision.yaml parses and
provisions correctly.
Source: Linters/SAST tools
- Simplified the error handling logic in the `startGvproxy` function by removing unnecessary checks for the process state. - Enhanced clarity in the error message when `gvproxy` exits before creating the expected socket file. These changes improve the robustness of the process monitoring in the macOS engine.
- Added an environment variable `CALF_REQUIRE_KRUNKIT` to the release workflow to ensure that the macOS build fails if krunkit bundling is unsuccessful. - Updated the Xcode project shell script to include error handling for the krunkit bundling process, providing a warning if the bundling fails and enforcing a failure in CI builds when required. These changes improve the reliability of the macOS build process by ensuring necessary components are bundled correctly.
- Reformatted the shell script in `guest-provision.yaml` to enhance clarity and maintainability. - Adjusted indentation and spacing for better structure without altering functionality. These changes aim to streamline the script for easier understanding and future modifications.
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BENCHMARKS.mdto reflect performance comparisons of Calf, Docker Desktop, and OrbStack on macOS using the new krunkit engine.CHANGELOG.mdto document the addition of the krunkit macOS engine and changes in runtime behavior.This commit marks a significant shift in the macOS engine architecture, aiming for improved performance and resource management.
Summary by CodeRabbit
New Features
krunkit-stack,guest-disk).Bug Fixes
Documentation