1、运动到指定点，JOG运动，运动结束的判断

2、优化测试用例

HSI_HexagonMI_EF3/HSI_Motion.h

@@ -95,7 +95,7 @@ enum MOTOR_START_POSOTION //
 enum MOTOR_AXISCHOOES_CMD //第三级指令
 {
 	AXIS_X = 0x01,
-	AXIS_Y = 0x02,
+	AXIS_Y = 0x00,
 	AXIS_Z = 0x04,
 	AXIS_U = 0x08,
 	AXIS_XY = 0x03,
@@ -171,7 +171,6 @@ public:
 	 */
 	HSI_STATUS HomeMachine(bool bHomed);
 	HSI_STATUS HomeMachineOld(bool bHomed);
-
 	HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false);
 	HSI_STATUS HomeFindIndex();
 	HSI_STATUS ZeroPos(bool bZeroPos);
@@ -183,7 +182,6 @@ public:
 	 */
 	HSI_STATUS IsHomed(bool& bHomed);
 	HSI_STATUS IsHomedOld(bool& bHomed);
-
 	HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
 	HSI_STATUS SetSpeedXyz(double Speed);
 	HSI_STATUS GetFocusSpeed(double& Speed);
@@ -192,10 +190,8 @@ public:
 	HSI_STATUS SetAccelerationXyz(double AccelX, double AccelY, double AccelZ);
 	HSI_STATUS GetSpeedR(double& Speed);
 	HSI_STATUS SetSpeedR(double Speed);
-
 	HSI_STATUS GetScaleResolution(double& _ScaleX, double& _ScaleY, double& _ScaleZ);
 	HSI_STATUS SetScaleResolution(double _ScaleX, double _ScaleY, double _ScaleZ);
-
 	HSI_STATUS GetDeadBand(double& DeadbandX, double& DeadbandY, double& DeadbandZ, double& DeadbandR);
 	HSI_STATUS GetRefreshDeadBand(double& Deadband);
 	/**
@@ -206,7 +202,6 @@ public:
 	 */
 	HSI_STATUS Jog(UINT AxisTypes, double Speed);
 	HSI_STATUS JogOld(UINT AxisTypes, double Speed);
-
 	HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
 	/**
 	 * \brief 
@@ -215,7 +210,6 @@ public:
 	HSI_STATUS StopJog();
 	HSI_STATUS StopJogOld();
 	HSI_STATUS StopJogEx(UINT AxisTypes);
-
 	HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
 	/**
 	 * \brief 获取轴当前位置
@@ -228,7 +222,6 @@ public:
 	 */
 	HSI_STATUS GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
 	HSI_STATUS GetPositionXyzOld(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
-
 	HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
 	                                double& PositionA);
 	HSI_STATUS GetEncoderXyz(long* lEncoderVal);
@@ -241,7 +234,7 @@ public:
 	 * \param motionParam 
 	 * \return 
 	 */
-	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]);
+	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5]);
 
 	/**
 	 * \brief 运行到指定位置
@@ -256,17 +249,21 @@ public:
 	HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
 	                          HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
-		HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
-
+	                             HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA,
 	                           HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point* CacheData);
 	HSI_STATUS GetPositionR(UINT AxisTypes, double& PositionR, double& Time);
 	HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
-	HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ);//圆弧插补
+	HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ); //圆弧插补
 	HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile);
 	HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile);
+	/**
+	 * \brief 
+	 * \return 
+	 */
 	HSI_STATUS AbortMotion();
+	HSI_STATUS AbortMotionOld();
 
 	HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status);
 	HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
@@ -278,7 +275,6 @@ public:
 	 */
 	HSI_STATUS Shutdown() override;
 	//HSI_STATUS ShutdownOld() override;
-
 	HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT& Types);
 	HSI_STATUS StartupEx(UINT AxisTypes, bool bHome);
 	HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double& Scale);
@@ -290,7 +286,6 @@ public:
 	HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed);
 	HSI_STATUS GetAccelerationEx(UINT AxisTypes, double& Accel);
 	HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel);
-
 	HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor, int triggleMode,
 	                           double* Intensities);
 	HSI_STATUS DCCPPStartPoint(double* startPoint);
@@ -298,10 +293,8 @@ public:
 	HSI_STATUS DCCScanStart();
 	HSI_STATUS DCCScanStop();
 	HSI_STATUS DCCForLightPlate();
-
 	HSI_STATUS IOStep(bool RunSts);
 	HSI_STATUS IOprogram(byte* SendData, int length);
-
 	HSI_STATUS FindOriginTest(bool state);
 
 	HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea, int filterTime1, int filterTime2,
@@ -476,7 +469,7 @@ public:
 	bool bCircleRun; //圆弧插补
 	int iCircleRunPnt[5]; //圆弧插补时的圆心位置
 	int jogAxisNum; //jog运动的轴号
-	int jogspeed;//jog 运动的速度
+	int jogspeed; //jog 运动的速度
 	bool jogMoving;
 	bool jogDirFlag;
 	bool m_bEmergencyState;
@@ -502,7 +495,7 @@ public:
 	int SpCompleteTEnd;
 	int SpTimeCount;
 	bool SetPotionRunEnd;
-	double PntToPntDistance;
+	double PntToPntDistance; //欧氏距离
 
 	double m_LockPos[5];
 	double m_ijk[5];
@@ -538,10 +531,6 @@ public:
 	static unsigned __stdcall m_Thread(LPVOID pThis);
 	void CreateThread();
 	void CloseThread();
-	/**
-	 * \brief
-	 *
-	 */
 	void UpdateMotionState();
 	void UpdateMotionStateOld();
 	void UpdateMotionStateEx();
@@ -574,6 +563,11 @@ public:
 	                          int& AccCurve, int& DecCurve);
 	void HomeJogGearsChoice(int AxisType, int JogGears, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
 	                        int& AccCurve, int& DecCurve);
+	/**
+	 * \brief 
+	 * \param AxisTypes 
+	 * \return 
+	 */
 	short AxisConvertIndex(UINT AxisTypes);
 	short IndexConvertAxis(int Index);
 	double LimitOver(UINT AxisTypes, double& LimitPos);
@@ -592,7 +586,7 @@ private:
 	int iMotionDirection;
 	int begin_position[5]; //外触发到初始点需要发送的脉冲数
 	HINSTANCE m_Hinst;
-	E_SO7_MOTION_TYPE CurrentMotionState;
+	E_SO7_MOTION_TYPE CurrentMotionState; //当前运动状态
 	E_SO7_MOTION_READ_TYPE CurrentReadDataType;
 
 	//网口通信添加