完成L4-USER-M-PROCESS Web仿真接入

结论：L4-USER-M-PROCESS 已按 Web/virtual HAL 数控仿真主线完成接入，native LinuxCNC runtime 不再作为 Web 仿真阻塞；新增 text31.txt 接续剩余 77 个 SKIP 的 main-program promotion 复核。

wasm-port/tests/native/probe_millturn_user_m_runtime.sh

@@ -11,12 +11,23 @@ LINUXCNC_STDERR="$RUN_DIR/linuxcnc.stderr.log"
 
 required_commands=(tclsh halrun halcmd linuxcnc)
 missing_commands=()
+declare -A command_paths=()
 LINUXCNC_PID=""
 
 cleanup() {
   if [[ -n "$LINUXCNC_PID" ]]; then
-    kill "$LINUXCNC_PID" 2>/dev/null || true
+    kill -TERM "-$LINUXCNC_PID" 2>/dev/null || kill "$LINUXCNC_PID" 2>/dev/null || true
+    for _ in $(seq 1 20); do
+      if ! kill -0 "$LINUXCNC_PID" 2>/dev/null; then
+        wait "$LINUXCNC_PID" 2>/dev/null || true
+        LINUXCNC_PID=""
+        return
+      fi
+      sleep 0.1
+    done
+    kill -KILL "-$LINUXCNC_PID" 2>/dev/null || kill -KILL "$LINUXCNC_PID" 2>/dev/null || true
     wait "$LINUXCNC_PID" 2>/dev/null || true
+    LINUXCNC_PID=""
   fi
 }
 trap cleanup EXIT
@@ -49,10 +60,22 @@ print_kv() {
   printf '%s=%s\n' "$1" "$2"
 }
 
+existing_linuxcnc_runtime_conflicts() {
+  ps -eo pid=,args= | awk '
+    /linuxcncsvr -ini/ || /rtapi_app load/ {
+      if ($0 !~ /awk /) {
+        gsub(/^[[:space:]]+/, "", $0)
+        print
+      }
+    }
+  '
+}
+
 runtime_requirements=()
 for command_name in "${required_commands[@]}"; do
   path="$(command_path "$command_name")"
   if [[ -n "$path" ]]; then
+    command_paths["$command_name"]="$path"
     runtime_requirements+=("$command_name:1")
     print_kv "millturn_user_m_runtime_${command_name}_path" "$path"
   else
@@ -108,6 +131,24 @@ if [[ "${ENABLE_MILLTURN_USER_M_RUNTIME_PROBE:-0}" != "1" ]]; then
   exit 0
 fi
 
+existing_runtime_conflicts="$(existing_linuxcnc_runtime_conflicts)"
+if [[ -n "$existing_runtime_conflicts" ]]; then
+  print_kv millturn_user_m_runtime_ready 0
+  print_kv millturn_user_m_missing_requirements "exclusive_linuxcnc_runtime"
+  print_kv millturn_user_m_existing_runtime_conflicts "$(printf '%s\n' "$existing_runtime_conflicts" | paste -sd ';' -)"
+  print_kv millturn_user_m_runtime_probe_status "blocked_existing_linuxcnc_runtime"
+  print_kv millturn_user_m_runtime_probe_note "existing_linuxcnc_runtime_conflict_keep_user_m_process_blocked"
+  exit 0
+fi
+
+HALCMD_BIN="${command_paths[halcmd]}"
+LINUXCNC_BIN="${command_paths[linuxcnc]}"
+
+export PATH="$LINUXCNC_ROOT/bin:$LINUXCNC_ROOT/scripts:$LINUXCNC_ROOT/tcl:$PATH"
+export LD_LIBRARY_PATH="$LINUXCNC_ROOT/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+export PYTHONPATH="$LINUXCNC_ROOT/lib/python${PYTHONPATH:+:$PYTHONPATH}"
+export TCLLIBPATH="$LINUXCNC_ROOT/tcl${TCLLIBPATH:+ $TCLLIBPATH}"
+
 mkdir -p "$RUN_DIR"
 
 wait_for_hal_pin() {
@@ -115,7 +156,7 @@ wait_for_hal_pin() {
   local limit="${MILLTURN_USER_M_RUNTIME_WAIT_SECONDS:-30}"
   local end=$((SECONDS + limit))
   while (( SECONDS < end )); do
-    if halcmd getp "$pin" >/dev/null 2>&1; then
+    if "$HALCMD_BIN" getp "$pin" >/dev/null 2>&1; then
       return 0
     fi
     sleep 0.25
@@ -124,7 +165,7 @@ wait_for_hal_pin() {
 }
 
 read_hal_pin() {
-  halcmd getp "$1" 2>/dev/null | tr -d '[:space:]'
+  "$HALCMD_BIN" getp "$1" 2>/dev/null | tr -d '[:space:]'
 }
 
 expect_hal_pin() {
@@ -140,9 +181,9 @@ expect_hal_pin() {
 set_switchkins_target() {
   local target="$1"
   local guard_pin="kinstype.is-$target"
-  if ! halcmd setp motion.switchkins-type "$target" >/dev/null 2>&1; then
-    halcmd unlinkp motion.switchkins-type >/dev/null 2>&1 || true
-    halcmd setp motion.switchkins-type "$target"
+  if ! "$HALCMD_BIN" setp motion.switchkins-type "$target" >/dev/null 2>&1; then
+    "$HALCMD_BIN" unlinkp motion.switchkins-type >/dev/null 2>&1 || true
+    "$HALCMD_BIN" setp motion.switchkins-type "$target"
   fi
   for _ in $(seq 1 40); do
     if [[ "$(read_hal_pin "$guard_pin")" =~ ^(TRUE|1)$ ]]; then
@@ -195,7 +236,7 @@ print_kv millturn_user_m_runtime_probe_ini "$INI_FILE"
 print_kv millturn_user_m_runtime_probe_linuxcnc_stdout "$LINUXCNC_STDOUT"
 print_kv millturn_user_m_runtime_probe_linuxcnc_stderr "$LINUXCNC_STDERR"
 
-linuxcnc -r "$INI_FILE" >"$LINUXCNC_STDOUT" 2>"$LINUXCNC_STDERR" &
+setsid "$LINUXCNC_BIN" -r "$INI_FILE" >"$LINUXCNC_STDOUT" 2>"$LINUXCNC_STDERR" &
 LINUXCNC_PID="$!"
 
 if ! wait_for_hal_pin ini.x.min_limit || ! wait_for_hal_pin motion.switchkins-type; then

wasm-port/tests/native/verify_native_probes.sh

@@ -252,18 +252,22 @@ check_native_runtime_probe_summary_row() {
     echo "$target runtime probe unexpectedly enables execution or promotion" >&2
     exit 1
   fi
-  if [[ ! "$probe_status" =~ ^(skipped_missing_host_runtime|ready_disabled_by_default|not_implemented_full_process_guard|runtime_state_probe_passed|runtime_protocol_probe_passed|runtime_lifecycle_probe_passed)$ ]]; then
+  if [[ ! "$probe_status" =~ ^(skipped_missing_host_runtime|blocked_existing_linuxcnc_runtime|ready_disabled_by_default|not_implemented_full_process_guard|runtime_state_probe_passed|runtime_protocol_probe_passed|runtime_lifecycle_probe_passed)$ ]]; then
     echo "$target runtime probe has invalid status: $probe_status" >&2
     exit 1
   fi
-  if [[ "$runtime_ready" == "0" && "$probe_status" != "skipped_missing_host_runtime" ]]; then
+  if [[ "$runtime_ready" == "0" && ! "$probe_status" =~ ^(skipped_missing_host_runtime|blocked_existing_linuxcnc_runtime)$ ]]; then
     echo "$target runtime probe is not ready but did not skip: $probe_status" >&2
     exit 1
   fi
-  if [[ "$runtime_ready" == "0" && "$probe_note" != *"missing_host_runtime"* ]]; then
+  if [[ "$runtime_ready" == "0" && "$probe_status" == "skipped_missing_host_runtime" && "$probe_note" != *"missing_host_runtime"* ]]; then
     echo "$target runtime probe missing-runtime note drift: $probe_note" >&2
     exit 1
   fi
+  if [[ "$runtime_ready" == "0" && "$probe_status" == "blocked_existing_linuxcnc_runtime" && "$probe_note" != *"existing_linuxcnc_runtime_conflict"* ]]; then
+    echo "$target runtime probe existing-runtime-conflict note drift: $probe_note" >&2
+    exit 1
+  fi
   if [[ "$runtime_ready" == "1" && "$missing_requirements" != "-" ]]; then
     echo "$target runtime probe is ready but lists missing requirements: $missing_requirements" >&2
     exit 1
@@ -654,7 +658,7 @@ if grep -Fq "millturn_user_m_runtime_ready=1" "$MILLTURN_USER_M_RUNTIME_STDOUT";
   fi
 else
   grep -Fq "millturn_user_m_runtime_ready=0" "$MILLTURN_USER_M_RUNTIME_STDOUT"
-  grep -Fq "millturn_user_m_runtime_probe_status=skipped_missing_host_runtime" \
+  grep -Eq "millturn_user_m_runtime_probe_status=(skipped_missing_host_runtime|blocked_existing_linuxcnc_runtime)" \
     "$MILLTURN_USER_M_RUNTIME_STDOUT"
 fi