Make feed override control the WASM trajectory

wasm-core/include/sim_motion_queue.h

@@ -30,8 +30,11 @@ typedef struct sim_motion_command {
     sim_posemath_segment segment;
     uint32_t id;
     uint32_t tag;
+    uint32_t flags;
 } sim_motion_command;
 
+#define SIM_MOTION_COMMAND_FLAG_RAPID 1u
+
 typedef struct sim_motion_state {
     sim_posemath_pose position;
     double velocity;
@@ -65,6 +68,7 @@ int sim_motion_step(sim_motion_queue *queue);
 int sim_motion_set_profile(sim_motion_queue *queue, int profile);
 int sim_motion_set_lookahead(sim_motion_queue *queue, uint32_t depth);
 int sim_motion_set_dynamics(sim_motion_queue *queue, double acceleration_limit, double jerk_limit);
+int sim_motion_set_feed_override(sim_motion_queue *queue, double feed_override);
 int sim_motion_set_paused(sim_motion_queue *queue, uint32_t paused);
 int sim_motion_peek(const sim_motion_queue *queue, uint32_t offset, sim_motion_command *command);
 int sim_motion_read_state(const sim_motion_queue *queue, sim_motion_state *state);

wasm-core/include/sim_task.h

@@ -70,6 +70,7 @@ enum sim_task_gate_command {
     SIM_TASK_GATE_SET_MODE = 13,
     SIM_TASK_GATE_PROGRAM_LOAD = 14,
     SIM_TASK_GATE_STEP = 15,
+    SIM_TASK_GATE_OVERRIDE = 16,
 };
 
 enum sim_task_gate_result {