参考所有分组，完成尽量多的内容

结论：聚合守护锁住LinuxCNC loadusr源依据，要求switchkins/remap生成器按do_loadusr_cmd getopt(+wWin:)和补全表跳过等待名后再记录实际程序。

docs/linuxcnc-source-policy.md

@@ -124,6 +124,13 @@ Efficiency rules:
   entries as source coverage only. Resolvable tool tables referenced by
   M428/M429/M430 INI files must be present as `tooldata` manifest entries and
   must not become new generated API aliases or browser cases.
+- LinuxCNC `halcmd loadusr` parsing must stay source-tied to
+  `src/hal/utils/halcmd_commands.cc` `do_loadusr_cmd()` and its
+  `getopt("+wWin:")` option model. Generator/checker code that extracts
+  user-space component programs from INI/HAL `loadusr` lines must also preserve
+  the common `-W/-Wn/-w/-iw` forms listed by
+  `src/hal/utils/halcmd_completion.c`, and must skip wait component names such
+  as `-Wn NAME` or `-n NAME` before recording the actual program source.
 - The kinematics manifest lister must preserve every allowed manifest group
   used by switchkins and RTCP coverage, including `asset`, `tooldata`, and
   `generated`, and must reject unknown filters or output modes for those groups.

generate-linuxcnc-switchkins-remap-table.sh

@@ -71,6 +71,9 @@ fi
 
 linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
 
+# LinuxCNC source basis: src/hal/utils/halcmd_commands.cc do_loadusr_cmd()
+# parses loadusr options with getopt("+wWin:"), and
+# src/hal/utils/halcmd_completion.c lists the common -W/-Wn/-w/-iw forms.
 read_ini_switchkins_config() {
     local file=$1
     awk '
@@ -79,6 +82,31 @@ read_ini_switchkins_config() {
             sub(/[[:space:]]*$/, "", value)
             return value
         }
+        function loadusr_program(value, fields, field_count, i, token) {
+            sub(/^.*(^|[[:space:]])loadusr[[:space:]]+/, "", value)
+            field_count = split(value, fields, /[[:space:]]+/)
+            for (i = 1; i <= field_count; i++) {
+                token = fields[i]
+                if (token == "-W" || token == "-w" || token == "-i") {
+                    continue
+                }
+                if (token == "-Wn" || token == "-n") {
+                    i++
+                    continue
+                }
+                if (token ~ /^-Wn.+/ || token ~ /^-n.+/) {
+                    continue
+                }
+                if (token ~ /^-[wWi]+$/) {
+                    continue
+                }
+                if (token ~ /^-/) {
+                    continue
+                }
+                return token
+            }
+            return ""
+        }
         {
             line = $0
             sub(/[[:space:]]*[#;].*$/, "", line)
@@ -108,12 +136,7 @@ read_ini_switchkins_config() {
             } else if (section == "hal" && key == "halcmd") {
                 lower = tolower(value)
                 if (lower ~ /(^|[[:space:]])loadusr([[:space:]]|$)/) {
-                    command = value
+                    command = loadusr_program(value)
-                    sub(/^.*(^|[[:space:]])loadusr[[:space:]]+/, "", command)
-                    while (command ~ /^-[^[:space:]]+[[:space:]]+/) {
-                        sub(/^-[^[:space:]]+[[:space:]]+/, "", command)
-                    }
-                    sub(/[[:space:]].*$/, "", command)
                     if (command != "") {
                         print "halcmd_loadusr\t" command
                     }
@@ -167,6 +190,31 @@ read_loadusr_commands() {
             sub(/[[:space:]]*$/, "", value)
             return value
         }
+        function loadusr_program(value, fields, field_count, i, token) {
+            sub(/^.*(^|[[:space:]])loadusr[[:space:]]+/, "", value)
+            field_count = split(value, fields, /[[:space:]]+/)
+            for (i = 1; i <= field_count; i++) {
+                token = fields[i]
+                if (token == "-W" || token == "-w" || token == "-i") {
+                    continue
+                }
+                if (token == "-Wn" || token == "-n") {
+                    i++
+                    continue
+                }
+                if (token ~ /^-Wn.+/ || token ~ /^-n.+/) {
+                    continue
+                }
+                if (token ~ /^-[wWi]+$/) {
+                    continue
+                }
+                if (token ~ /^-/) {
+                    continue
+                }
+                return token
+            }
+            return ""
+        }
         {
             line = $0
             sub(/[[:space:]]*#.*/, "", line)
@@ -175,13 +223,9 @@ read_loadusr_commands() {
             if (lower !~ /(^|[[:space:]])loadusr([[:space:]]|$)/) {
                 next
             }
-            sub(/^.*(^|[[:space:]])loadusr[[:space:]]+/, "", line)
+            command = loadusr_program(line)
-            while (line ~ /^-[^[:space:]]+[[:space:]]+/) {
+            if (command != "") {
-                sub(/^-[^[:space:]]+[[:space:]]+/, "", line)
+                print command
-            }
-            sub(/[[:space:]].*$/, "", line)
-            if (line != "") {
-                print line
             }
         }
     ' "$file"

test-all-native.sh

@@ -149,6 +149,12 @@ grep -F 'missing LinuxCNC switchkins remap source in manifest:' check-linuxcnc-s
 grep -F 'LinuxCNC source basis: cached switchkins/remap validation hashes the LinuxCNC' check-linuxcnc-switchkins-remap-table-cached.sh >/dev/null
 grep -F 'LinuxCNC source basis: generated switchkins/remap tables are extracted from' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
 grep -F 'LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh "$manifest"' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'src/hal/utils/halcmd_commands.cc do_loadusr_cmd()' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'getopt("+wWin:")' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'src/hal/utils/halcmd_completion.c lists the common -W/-Wn/-w/-iw forms' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'function loadusr_program(value, fields, field_count, i, token)' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'if (token == "-Wn" || token == "-n")' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'i++' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
 grep -F 'LinuxCNC source basis: Puma560 DH parameter output is generated from' generate-linuxcnc-puma560-dh-parameters.sh >/dev/null
 test -x generate-linuxcnc-puma560-dh-parameters.sh
 grep -F 'usage: $0 [linuxcnc-root-relative-puma560-dh-hal]' generate-linuxcnc-puma560-dh-parameters.sh >/dev/null
@@ -190,6 +196,10 @@ grep -F 'the cached wrapper script, checker script, generator script' docs/linux
 grep -F 'generated table/case outputs, and the thin API/web bridge files that pass' docs/linuxcnc-source-policy.md >/dev/null
 grep -F 'switchkins config aliases.' docs/linuxcnc-source-policy.md >/dev/null
 grep -F 'The switchkins/remap generator must treat LinuxCNC `[EMCIO] TOOL_TABLE`' docs/linuxcnc-source-policy.md >/dev/null
+grep -F 'LinuxCNC `halcmd loadusr` parsing must stay source-tied to' docs/linuxcnc-source-policy.md >/dev/null
+grep -F '`src/hal/utils/halcmd_commands.cc` `do_loadusr_cmd()`' docs/linuxcnc-source-policy.md >/dev/null
+grep -F '`getopt("+wWin:")` option model' docs/linuxcnc-source-policy.md >/dev/null
+grep -F '`src/hal/utils/halcmd_completion.c`' docs/linuxcnc-source-policy.md >/dev/null
 grep -F 'must not become new generated API aliases or browser cases.' docs/linuxcnc-source-policy.md >/dev/null
 grep -F 'The kinematics manifest lister must preserve every allowed manifest group' docs/linuxcnc-source-policy.md >/dev/null
 grep -F 'including `asset`, `tooldata`, and' docs/linuxcnc-source-policy.md >/dev/null