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my (@match) = $str =~ /(?:^foo |(?<!^)\G)m (\d+) (?=(?:m \d+ )*bar)/g;

my @test = ( 'foo m 1 m 2 m 3 m 4 bar',
             'foo m 2 m 4 m 7 bar',
...
  local $" = ', ';
  print "'$str' => (@match)\n";
}

'foo m 1 m 2 m 3 m 4 bar' => (1, 2, 3, 4)
'foo m 2 m 4 m 7 bar' => (2, 4, 7)
...
'foo m 1 c 2 bar' => ()
'foo m 1 bar m 2' => (1)
'foo m 1 m 5 m 7' => ()