Initial commit

.gitignore

+# Visual Studio
+.vs/
+[Dd]ebug/
+[Rr]elease/
+x64/
+x86/
+ARM/
+ARM64/
+*.aps
+*.bak
+*.cache
+*.db
+*.opendb
+*.sdf
+*.suo
+*.user
+*.userosscache
+*.sln.docstates
+*.exe.WebView2/
+
+# Build Output
+*.exe
+*.dll
+*.pdb
+*.ilk
+*.exp
+*.lib
+*.obj
+*.iobj
+*.ipdb
+*.log
+*.tlog
+
+# Project Specific
+config.ini
+steer_url/x64/
+steer_url/Debug/
+steer_url/Release/
+
+# External / Local
+packages/
+node_modules/
+temp/
+tmp/

README.md

+# MozaR3CenterOnly - WebView2 赛车终助手
+
+本项目是一个高性能的 Windows 应用程序，它封装了一个赛车网页 (`https://fcrs.tentmall.cn/flyPC/#/`)，并集成了 **MOZA R3** 方向盘硬件，实现了用力反馈 (FFB) 和输入控制。
+
+## 项目特性
+- **500Hz 硬件轮询**：提供极速、丝滑的方向盘和踏板数据读取。
+- **无边框全屏**：沉浸式 Kiosk 模式（按 **ESC** 键可一键退出到窗口模式进行设置）。
+- **开机自启**：可选集成到 Windows 启动项。
+- **后台自动重连**：当程序从后台切换回前台时，自动重新挂载硬件，无需手动操作。
+- **个性化品牌**：完美集成自定义赛车图标。
+
+## 开发环境与准备工作
+
+要编译本项目，您需要 **Visual Studio 2019 或 2022**，并安装 **“使用 C++ 的桌面开发”** 工作负载。
+
+### 1. 安装 WebView2 SDK (必须)
+浏览器引擎依赖于微软的 WebView2 SDK：
+1. 在 Visual Studio 中打开解决方案 (`steer_url.sln`)。
+2. 在解决方案资源管理器中右键点击 **steer_url** 项目。
+3. 选择 **“管理 NuGet 程序包...”**。
+4. 搜索 **`Microsoft.Web.WebView2`**。
+5. 点击 **“安装”**。
+
+### 2. MOZA SDK (已包含)
+MOZA 硬件 SDK 已通过 `third_party/moza` 目录集成到项目代码中，**无需**额外下载或安装任何库。
+
+## 编译指南
+1. 将配置设置为 **Release**，平台设置为 **x64**。
+2. 点击 **生成 (Build)** -> **重新生成解决方案 (Rebuild Solution)**。
+3. 编译成功的 .exe 文件和必要的 DLL 将位于 `x64/Release/` 目录下。
+
+## 运行与发布
+发布时，请确保以下文件位于同一目录下：
+- `steer_url.exe` (主程序)
+- `MOZA_SDK.dll` (硬件驱动库，需从 `third_party/moza/bin/x64` 复制到此处)
+- `WebView2Loader.dll` (浏览器核心)
+
+> **贴士**：为了方便开发，您可以在 VS 项目属性的 **“生成事件 -> 生成后事件”** 中添加以下命令，让系统自动为您复制 DLL：
+> `copy /Y "$(ProjectDir)third_party\moza\bin\x64\MOZA_SDK.dll" "$(OutDir)MOZA_SDK.dll"`
+
+- `www/` (资源文件夹，包含图标)
+- `config.ini` (保存您的设置)
+
+---
+*专为 MOZA R3 硬件集成定制。*

steer_url.sln

+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.14.36623.8 d17.14
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "steer_url", "steer_url\steer_url.vcxproj", "{7F3B8DDD-AD8D-417B-8193-A02B136442F2}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Debug|x64.ActiveCfg = Debug|x64
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Debug|x64.Build.0 = Debug|x64
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Debug|x86.ActiveCfg = Debug|Win32
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Debug|x86.Build.0 = Debug|Win32
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Release|x64.ActiveCfg = Release|x64
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Release|x64.Build.0 = Release|x64
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Release|x86.ActiveCfg = Release|Win32
+		{7F3B8DDD-AD8D-417B-8193-A02B136442F2}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {90990069-BBDD-49BA-9099-DB1933840305}
+	EndGlobalSection
+EndGlobal

steer_url/MozaController.cpp

+#include "MozaController.h"
+#include <iostream>
+#include <chrono>
+#include <cmath>
+#include <algorithm>
+#include <string>
+#include <sstream>
+
+namespace {
+    void DebugLog(const std::string& msg) {
+        OutputDebugStringA(("[MOZA] " + msg + "\n").c_str());
+    }
+
+    const char* ErrorCodeToString(ERRORCODE code) {
+        switch (code) {
+        case NORMAL: return "NORMAL";
+        case NOINSTALLSDK: return "NOINSTALLSDK";
+        case NODEVICES: return "NODEVICES";
+        case OUTOFRANGE: return "OUTOFRANGE";
+        case PARAMETERERR: return "PARAMETERERR";
+        case COLLECTIONCYCLEDATALOSS: return "COLLECTIONCYCLEDATALOSS";
+        case CREATEFFECTERR: return "CREATEFFECTERR";
+        case ENCODINGFAILED: return "ENCODINGFAILED";
+        case FFBERR: return "FFBERR";
+        case FIRMWARETOOOLD: return "FIRMWARETOOOLD";
+        case PITHOUSENOTREADY: return "PITHOUSENOTREADY";
+        default: return "UNKNOWN";
+        }
+    }
+
+    void PrintError(const char* step, ERRORCODE code) {
+        std::stringstream ss;
+        ss << "[ERROR] " << step << " failed: " << ErrorCodeToString(code) << " (" << static_cast<int>(code) << ")";
+        DebugLog(ss.str());
+    }
+
+    template <typename Fn>
+    bool TryEffectCall(const char* step, Fn&& fn) {
+        try {
+            fn();
+            return true;
+        } catch (const std::exception& e) {
+            std::stringstream ss;
+            ss << "[WARN] " << step << " exception: " << e.what();
+            DebugLog(ss.str());
+        } catch (...) {
+            DebugLog(std::string("[WARN] ") + step + " unknown exception.");
+        }
+        return false;
+    }
+}
+
+MozaController::MozaController() 
+    : m_sdkInstalled(false), m_running(false), m_hwnd(nullptr), m_lastAngle(0.0f), m_hasLastAngle(false) {
+    m_lastTs = std::chrono::steady_clock::now();
+    m_nextRenewTime = m_lastTs;
+    m_nextPrintTime = m_lastTs;
+}
+
+MozaController::~MozaController() {
+    Stop();
+}
+
+void MozaController::InitializeHardware(HWND hWnd) {
+    m_hwnd = hWnd;
+    moza::installMozaSDK();
+    m_sdkInstalled = true;
+    m_running = false;
+    DebugLog("SDK Installed. Waiting for wheelbase asynchronously...");
+}
+
+void MozaController::Update() {
+    if (!m_sdkInstalled) return;
+
+    const auto now = std::chrono::steady_clock::now();
+
+    if (!m_running) {
+        if (now >= m_nextRenewTime) {
+            ERRORCODE err = NORMAL;
+            const char* wheelbase = moza::getDeviceParent(PRODUCT_WHEELBASE, err);
+            if (err == NORMAL && wheelbase != nullptr && wheelbase[0] != '\0') {
+                std::stringstream ss;
+                ss << "Wheelbase detected: " << wheelbase;
+                DebugLog(ss.str());
+
+                HWND desktopHwnd = GetDesktopWindow();
+                if (CreateAndStartCenterForce(m_hwnd, desktopHwnd)) {
+                    // Standard settings
+                    moza::setMotorFfbStrength(100);
+                    moza::setMotorPeakTorque(100);
+                    moza::setMotorSpringStrength(0);
+                    moza::setMotorNaturalDamper(45);
+                    moza::setMotorSpeedDamping(15);
+                    moza::setMotorHandsOffProtection(0);
+
+                    m_running = true;
+                    m_nextRenewTime = now + std::chrono::milliseconds(59800);
+                    DebugLog("Hardware Ready. Main thread control active.");
+                } else {
+                    DebugLog("[ERROR] Failed to start center force. Will retry...");
+                }
+            } else {
+                DebugLog("Waiting for wheelbase connection...");
+            }
+            if (!m_running) {
+                m_nextRenewTime = now + std::chrono::milliseconds(500);
+            }
+        }
+        return;
+    }
+
+    ERRORCODE hidErr = NORMAL;
+    const HIDData* hid = moza::getHIDData(hidErr);
+    float angleDeg = 0.0f;
+    bool angleValid = false;
+    float velocityDegPerSec = 0.0f;
+
+    if (hidErr == NORMAL && hid != nullptr) {
+        if (!std::isnan(hid->fSteeringWheelAngle)) {
+            angleDeg = hid->fSteeringWheelAngle;
+            angleValid = true;
+        }
+        if (!std::isnan(hid->fSteeringWheelVelocity)) {
+            velocityDegPerSec = hid->fSteeringWheelVelocity;
+        }
+    }
+
+    if (angleValid) {
+        if (std::isnan(velocityDegPerSec) || velocityDegPerSec == 0.0f) {
+            if (m_hasLastAngle) {
+                const float dt = std::chrono::duration<float>(now - m_lastTs).count();
+                if (dt > 0.0001f) {
+                    velocityDegPerSec = (angleDeg - m_lastAngle) / dt;
+                }
+            }
+        }
+        m_lastAngle = angleDeg;
+        m_lastTs = now;
+        m_hasLastAngle = true;
+    } else if (m_hasLastAngle) {
+        angleDeg = m_lastAngle;
+        angleValid = true;
+    }
+
+    constexpr float kDeadzoneDeg = 1.5f;
+    constexpr float kKp = 50.0f;
+    constexpr float kKd = 0.8f;
+    constexpr float kMaxTorque = 6500.0f;
+    float torque = 0.0f;
+
+    if (angleValid && std::fabs(angleDeg) > kDeadzoneDeg) {
+        const float command = (kKp * angleDeg + kKd * velocityDegPerSec);
+        torque = kMaxTorque * std::tanh(command / kMaxTorque);
+    }
+    torque = std::clamp(torque, -kMaxTorque, kMaxTorque);
+
+    if (m_centerForce) {
+        bool magnitudeOk = TryEffectCall("centerForce->setMagnitude", [&]() {
+            m_centerForce->setMagnitude(static_cast<long>(torque));
+        });
+        if (!magnitudeOk) {
+            DebugLog("[WARN] Effect lost (likely backgrounded). Dropping connection to standby mode...");
+            moza::stopForceFeedback();
+            m_centerForce.reset();
+            m_running = false;
+        }
+    }
+
+    if (m_running && now >= m_nextRenewTime) {
+        if (m_centerForce && !TryEffectCall("centerForce->start(renew)", [&]() { m_centerForce->start(); })) {
+            DebugLog("[WARN] Effect renew failed (likely backgrounded). Dropping connection to standby mode...");
+            moza::stopForceFeedback();
+            m_centerForce.reset();
+            m_running = false;
+        } else {
+            m_nextRenewTime = now + std::chrono::milliseconds(59800);
+        }
+    }
+
+    if (now >= m_nextPrintTime) {
+        std::stringstream ss;
+        ss << "[CENTER] angle=" << angleDeg 
+           << " vel=" << velocityDegPerSec 
+           << " torque=" << static_cast<long>(torque);
+        DebugLog(ss.str());
+        m_nextPrintTime = now + std::chrono::milliseconds(1000);
+    }
+}
+
+void MozaController::Stop() {
+    m_running = false;
+    if (m_centerForce) {
+        m_centerForce.reset();
+    }
+    moza::stopForceFeedback();
+    moza::removeMozaSDK();
+}
+
+
+bool MozaController::CreateAndStartCenterForce(HWND primaryHwnd, HWND desktopHwnd) {
+    ERRORCODE err = NORMAL;
+    // 恢复为尝试主窗口 -> 桌面窗口，不使用全局 nullptr 避免按键被驱动全局吃掉
+    const HWND startHandles[2] = { primaryHwnd, desktopHwnd };
+    const char* startNames[2] = { "app-window", "desktop-window" };
+    constexpr unsigned long kDurationMs = 60000;
+
+    for (int i = 0; i < 2; ++i) {
+        if (startHandles[i] == nullptr) continue;
+        
+        err = NORMAL;
+        m_centerForce = moza::createWheelbaseETConstantForce(startHandles[i], err);
+        if (m_centerForce == nullptr || err != NORMAL) {
+            PrintError("createWheelbaseETConstantForce", err);
+            continue;
+        }
+
+        m_centerForce->setGain(10000);
+        m_centerForce->setDuration(kDurationMs);
+        m_centerForce->setAttackTime(5);
+        m_centerForce->setFadeTime(10);
+        m_centerForce->setMagnitude(0);
+        if (TryEffectCall("centerForce->start", [&]() { m_centerForce->start(); })) {
+            std::stringstream ss;
+            ss << "[INFO] Center force started with " << startNames[i];
+            DebugLog(ss.str());
+            return true;
+        }
+    }
+    return false;
+}

steer_url/MozaController.h

+#pragma once
+
+#include <windows.h>
+#include <memory>
+#include <thread>
+#include <atomic>
+#include "mozaAPI.h"
+
+class MozaController {
+public:
+    MozaController();
+    ~MozaController();
+
+    void InitializeHardware(HWND hWnd);
+    void Update(); // 每一帧调用的更新逻辑
+    void Stop();
+
+private:
+    bool CreateAndStartCenterForce(HWND primaryHwnd, HWND desktopHwnd);
+    
+    std::shared_ptr<RS21::direct_input::ETConstantForce> m_centerForce;
+    std::atomic<bool> m_running;
+    bool m_sdkInstalled;
+    HWND m_hwnd;
+
+    // 状态追踪 (用于模拟程序循环逻辑)
+    float m_lastAngle;
+    std::chrono::steady_clock::time_point m_lastTs;
+    std::chrono::steady_clock::time_point m_nextRenewTime;
+    std::chrono::steady_clock::time_point m_nextPrintTime;
+    bool m_hasLastAngle;
+};

steer_url/Resource.h

+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ 生成的包含文件。
+// 使用者 steer_url.rc
+
+#define IDS_APP_TITLE			103
+
+#define IDR_MAINFRAME			128
+#define IDD_STEERURL_DIALOG	102
+#define IDD_ABOUTBOX			103
+#define IDM_ABOUT				104
+#define IDM_EXIT				105
+#define IDI_STEERURL			107
+#define IDI_SMALL				108
+#define IDC_STEERURL			109
+#define IDC_MYICON				2
+#ifndef IDC_STATIC
+#define IDC_STATIC				-1
+#endif
+// 新对象的下一组默认值
+//
+#ifdef APSTUDIO_INVOKED
+#ifndef APSTUDIO_READONLY_SYMBOLS
+
+#define _APS_NO_MFC					130
+#define _APS_NEXT_RESOURCE_VALUE	129
+#define _APS_NEXT_COMMAND_VALUE		32771
+#define _APS_NEXT_CONTROL_VALUE		1000
+#define _APS_NEXT_SYMED_VALUE		110
+#endif
+#endif

steer_url/framework.h

+// header.h: 标准系统包含文件的包含文件，
+// 或特定于项目的包含文件
+//
+
+#pragma once
+
+#include "targetver.h"
+#define WIN32_LEAN_AND_MEAN             // 从 Windows 头文件中排除极少使用的内容
+// Windows 头文件
+#include <windows.h>
+// C 运行时头文件
+#include <stdlib.h>
+#include <malloc.h>
+#include <memory.h>
+#include <tchar.h>

steer_url/index.html

+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>MOZA R3 Control Dashboard</title>
+    <style>
+        :root {
+            --primary: #00f2fe;
+            --secondary: #4facfe;
+            --bg: #0f172a;
+            --card: #1e293b;
+        }
+
+        body {
+            background: var(--bg);
+            color: white;
+            font-family: 'Outfit', -apple-system, sans-serif;
+            margin: 0;
+            display: flex;
+            justify-content: center;
+            align-items: center;
+            min-height: 100vh;
+            overflow: hidden;
+        }
+
+        .dashboard {
+            background: var(--card);
+            padding: 2rem;
+            border-radius: 1.5rem;
+            box-shadow: 0 25px 50px -12px rgba(0, 0, 0, 0.5);
+            border: 1px solid rgba(255, 255, 255, 0.1);
+            text-align: center;
+            backdrop-filter: blur(10px);
+            width: 80%;
+            max-width: 500px;
+        }
+
+        h1 {
+            font-size: 2rem;
+            margin-bottom: 0.5rem;
+            background: linear-gradient(to right, var(--primary), var(--secondary));
+            -webkit-background-clip: text;
+            background-clip: text;
+            -webkit-text-fill-color: transparent;
+        }
+
+        .status {
+            display: inline-block;
+            padding: 0.5rem 1rem;
+            background: rgba(16, 185, 129, 0.2);
+            color: #10b981;
+            border-radius: 2rem;
+            font-size: 0.875rem;
+            margin: 1rem 0;
+            border: 1px solid rgba(16, 185, 129, 0.2);
+        }
+
+        .controls {
+            margin-top: 2rem;
+        }
+
+        .info {
+            color: #94a3b8;
+            font-size: 0.9rem;
+            line-height: 1.5;
+        }
+
+        .visual {
+            width: 150px;
+            height: 150px;
+            margin: 1.5rem auto;
+            border: 4px solid var(--primary);
+            border-radius: 50%;
+            display: flex;
+            justify-content: center;
+            align-items: center;
+            position: relative;
+            animation: pulse 2s infinite;
+        }
+
+        .visual::after {
+            content: '';
+            width: 0;
+            height: 0;
+            border-left: 10px solid transparent;
+            border-right: 10px solid transparent;
+            border-top: 30px solid var(--primary);
+            position: absolute;
+            top: 20px;
+        }
+
+        @keyframes pulse {
+            0% {
+                transform: scale(1);
+                box-shadow: 0 0 0 0 rgba(0, 242, 254, 0.4);
+            }
+
+            70% {
+                transform: scale(1.05);
+                box-shadow: 0 0 0 15px rgba(0, 242, 254, 0);
+            }
+
+            100% {
+                transform: scale(1);
+                box-shadow: 0 0 0 0 rgba(0, 242, 254, 0);
+            }
+        }
+    </style>
+</head>
+
+<body>
+    <div class="dashboard">
+        <h1>MOZA R3 Center Force</h1>
+        <div class="status">System Active</div>
+        <div class="visual"></div>
+        <div class="info">
+            <p>Background controller thread is running.</p>
+            <p>Direct Input center force enabled for desktop and app windows.</p>
+        </div>
+        <div class="controls">
+            <p style="color: #64748b; font-size: 0.8rem;">UI rendered with WebView2</p>
+        </div>
+    </div>
+</body>
+
+</html>
\ No newline at end of file

steer_url/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="Microsoft.Web.WebView2" version="1.0.3856.49" targetFramework="native" />
+</packages>
\ No newline at end of file

steer_url/steer_url.cpp

+// steer_url.cpp : 定义应用程序的入口点。
+//
+
+#include "framework.h"
+#include "steer_url.h"
+#include "MozaController.h"
+#include <wrl.h>
+#include <WebView2.h>
+#include <string>
+
+using namespace Microsoft::WRL;
+
+#include <fstream>
+#include <shlwapi.h>
+
+struct AppSettings {
+    bool enableFullscreen = true;
+    bool enableAutoStart = false;
+} g_Settings;
+
+std::wstring GetSettingsPath() {
+    WCHAR path[MAX_PATH];
+    GetModuleFileNameW(nullptr, path, MAX_PATH);
+    std::wstring strPath(path);
+    size_t pos = strPath.find_last_of(L"\\/");
+    if (pos != std::wstring::npos) {
+        return strPath.substr(0, pos) + L"\\config.ini";
+    }
+    return L"config.ini";
+}
+
+void LoadSettings() {
+    std::wstring path = GetSettingsPath();
+    g_Settings.enableFullscreen = GetPrivateProfileIntW(L"Settings", L"Fullscreen", 1, path.c_str()) != 0;
+    g_Settings.enableAutoStart = GetPrivateProfileIntW(L"Settings", L"AutoStart", 0, path.c_str()) != 0;
+}
+
+void SaveSettings() {
+    std::wstring path = GetSettingsPath();
+    WritePrivateProfileStringW(L"Settings", L"Fullscreen", g_Settings.enableFullscreen ? L"1" : L"0", path.c_str());
+    WritePrivateProfileStringW(L"Settings", L"AutoStart", g_Settings.enableAutoStart ? L"1" : L"0", path.c_str());
+}
+
+void ToggleAutoStart(bool enable) {
+    HKEY hKey;
+    if (RegOpenKeyExW(HKEY_CURRENT_USER, L"Software\\Microsoft\\Windows\\CurrentVersion\\Run", 0, KEY_WRITE, &hKey) == ERROR_SUCCESS) {
+        if (enable) {
+            WCHAR path[MAX_PATH];
+            GetModuleFileNameW(nullptr, path, MAX_PATH);
+            std::wstring quotePath = L"\"" + std::wstring(path) + L"\"";
+            RegSetValueExW(hKey, L"MozaR3Worker", 0, REG_SZ, (const BYTE*)quotePath.c_str(), (DWORD)((quotePath.length() + 1) * sizeof(WCHAR)));
+        } else {
+            RegDeleteValueW(hKey, L"MozaR3Worker");
+        }
+        RegCloseKey(hKey);
+    }
+}
+
+#define MAX_LOADSTRING 100
+
+// 全局变量:
+HINSTANCE hInst;                                // 当前实例
+WCHAR szTitle[MAX_LOADSTRING];                  // 标题栏文本
+WCHAR szWindowClass[MAX_LOADSTRING];            // 主窗口类名
+MozaController g_Controller;                    // MOZA 控制器
+ComPtr<ICoreWebView2Controller> g_WebViewController;
+ComPtr<ICoreWebView2> g_WebView;
+
+#define IDM_TOGGLE_FULLSCREEN 1001
+#define IDM_TOGGLE_LAUNCH_FULLSCREEN 1002
+#define IDM_TOGGLE_AUTOSTART 1003
+
+bool g_IsFullscreen = false;
+HMENU g_hMenu = nullptr;
+
+// 此代码模块中包含的函数的前向声明:
+ATOM                MyRegisterClass(HINSTANCE hInstance);
+BOOL                InitInstance(HINSTANCE, int);
+LRESULT CALLBACK    WndProc(HWND, UINT, WPARAM, LPARAM);
+void                InitWebView(HWND hWnd);
+
+int APIENTRY wWinMain(_In_ HINSTANCE hInstance,
+                     _In_opt_ HINSTANCE hPrevInstance,
+                     _In_ LPWSTR    lpCmdLine,
+                     _In_ int       nCmdShow)
+{
+    UNREFERENCED_PARAMETER(hPrevInstance);
+    UNREFERENCED_PARAMETER(lpCmdLine);
+
+    LoadSettings();
+    ToggleAutoStart(g_Settings.enableAutoStart);
+
+    // 初始化 COM 库 (修复 0x800401F0 错误)
+    CoInitializeEx(nullptr, COINIT_APARTMENTTHREADED);
+
+    // 初始化全局字符串 (使用和原始程序一致的类名和标题)
+    wcscpy_s(szTitle, L"MozaR3CenterOnly");
+    wcscpy_s(szWindowClass, L"MozaR3WorkerClass");
+    MyRegisterClass(hInstance);
+
+    // 执行应用程序初始化:
+    if (!InitInstance (hInstance, nCmdShow))
+    {
+        return FALSE;
+    }
+
+    HACCEL hAccelTable = LoadAccelerators(hInstance, MAKEINTRESOURCE(IDC_STEERURL));
+    MSG msg;
+
+    // 主消息循环:
+    while (GetMessage(&msg, nullptr, 0, 0))
+    {
+        TranslateMessage(&msg);
+        DispatchMessage(&msg);
+    }
+
+    // 停止控制器
+    g_Controller.Stop();
+
+    // 显式释放 WebView2 COM 对象，防止在 CoUninitialize 后析构导致崩溃
+    g_WebView.Reset();
+    g_WebViewController.Reset();
+
+    // 释放 COM 库
+    CoUninitialize();
+
+    return (int) msg.wParam;
+}
+
+ATOM MyRegisterClass(HINSTANCE hInstance)
+{
+    WNDCLASSEXW wcex;
+    wcex.cbSize = sizeof(WNDCLASSEX);
+    wcex.style          = CS_HREDRAW | CS_VREDRAW;
+    wcex.lpfnWndProc    = WndProc;
+    wcex.cbClsExtra     = 0;
+    wcex.cbWndExtra     = 0;
+    wcex.hInstance      = hInstance;
+    wcex.hIcon          = LoadIcon(hInstance, MAKEINTRESOURCE(IDI_STEERURL));
+    wcex.hCursor        = LoadCursor(nullptr, IDC_ARROW);
+    wcex.hbrBackground  = (HBRUSH)(COLOR_WINDOW+1);
+    wcex.lpszMenuName   = nullptr; // 移除自带菜单以获得现代外观
+    wcex.lpszClassName  = szWindowClass;
+    wcex.hIconSm        = LoadIcon(wcex.hInstance, MAKEINTRESOURCE(IDI_SMALL));
+    return RegisterClassExW(&wcex);
+}
+
+void ToggleFullscreenMode(HWND hWnd, bool fullscreen) {
+    g_IsFullscreen = fullscreen;
+    if (fullscreen) {
+        SetWindowLongPtr(hWnd, GWL_STYLE, WS_POPUP | WS_VISIBLE);
+        SetMenu(hWnd, nullptr);
+        SetWindowPos(hWnd, HWND_TOP, 0, 0, GetSystemMetrics(SM_CXSCREEN), GetSystemMetrics(SM_CYSCREEN), SWP_FRAMECHANGED);
+    } else {
+        SetWindowLongPtr(hWnd, GWL_STYLE, WS_OVERLAPPEDWINDOW | WS_VISIBLE);
+        SetMenu(hWnd, g_hMenu);
+        SetWindowPos(hWnd, HWND_TOP, 100, 100, 1024, 768, SWP_FRAMECHANGED);
+    }
+}
+
+BOOL InitInstance(HINSTANCE hInstance, int nCmdShow)
+{
+   hInst = hInstance;
+   HWND hWnd = CreateWindowW(szWindowClass, szTitle, WS_OVERLAPPEDWINDOW,
+      CW_USEDEFAULT, 0, 1024, 768, nullptr, nullptr, hInstance, nullptr);
+
+   if (!hWnd) return FALSE;
+
+   HMENU hMenu = CreateMenu();
+   HMENU hSettingsMenu = CreatePopupMenu();
+   AppendMenuW(hSettingsMenu, MF_STRING, IDM_TOGGLE_FULLSCREEN, L"\u8FDB\u5165\u5168\u5C4F (ESC\u9000\u51FA)");
+   AppendMenuW(hSettingsMenu, g_Settings.enableFullscreen ? (MF_STRING | MF_CHECKED) : MF_STRING, IDM_TOGGLE_LAUNCH_FULLSCREEN, L"\u542F\u52A8\u65F6\u5168\u5C4F");
+   AppendMenuW(hSettingsMenu, g_Settings.enableAutoStart ? (MF_STRING | MF_CHECKED) : MF_STRING, IDM_TOGGLE_AUTOSTART, L"\u5F00\u673A\u81EA\u542F");
+   AppendMenuW(hMenu, MF_POPUP, (UINT_PTR)hSettingsMenu, L"\u8BBE\u7F6E");
+   g_hMenu = hMenu;
+   SetMenu(hWnd, hMenu);
+
+
+   ToggleFullscreenMode(hWnd, g_Settings.enableFullscreen);
+
+   ShowWindow(hWnd, nCmdShow);
+   UpdateWindow(hWnd);
+
+   // 3. 注册硬件句柄 (非阻塞，由 Timer 中的 Update 接管初始化)
+   g_Controller.InitializeHardware(hWnd);
+
+   // 4. 初始化浏览器
+   InitWebView(hWnd);
+
+   // 5. 启动后台处理计时器 (提高刷新率到 ~200-500Hz)
+   SetTimer(hWnd, 1, 2, nullptr);
+
+   return TRUE;
+}
+
+void InitWebView(HWND hWnd) {
+    HRESULT res = CreateCoreWebView2EnvironmentWithOptions(nullptr, nullptr, nullptr,
+        Callback<ICoreWebView2CreateCoreWebView2EnvironmentCompletedHandler>(
+            [hWnd](HRESULT result, ICoreWebView2Environment* env) -> HRESULT {
+                if (FAILED(result) || !env) {
+                    WCHAR msg[256];
+                    swprintf_s(msg, L"WebView2 Environment Init Failed (HRESULT: 0x%08X). Please install Runtime.", result);
+                    MessageBoxW(hWnd, msg, L"Init Error", MB_ICONERROR);
+                    return result;
+                }
+                env->CreateCoreWebView2Controller(hWnd,
+                    Callback<ICoreWebView2CreateCoreWebView2ControllerCompletedHandler>(
+                        [hWnd](HRESULT result, ICoreWebView2Controller* controller) -> HRESULT {
+                            if (FAILED(result) || !controller) {
+                                WCHAR msg[256];
+                                swprintf_s(msg, L"Failed to create browser controller (HRESULT: 0x%08X).", result);
+                                MessageBoxW(hWnd, msg, L"Renderer Error", MB_ICONERROR);
+                                return result;
+                            }
+                            
+                            g_WebViewController = controller;
+                            g_WebViewController->get_CoreWebView2(&g_WebView);
+
+                            if (g_WebView) {
+                                ICoreWebView2Settings* Settings;
+                                g_WebView->get_Settings(&Settings);
+                                if (Settings) {
+                                    Settings->put_IsScriptEnabled(TRUE);
+                                    Settings->put_AreDefaultContextMenusEnabled(FALSE);
+                                    Settings->put_IsStatusBarEnabled(FALSE);
+                                }
+
+                                // 调整 WebView2 大小
+                                RECT bounds;
+                                GetClientRect(hWnd, &bounds);
+                                g_WebViewController->put_Bounds(bounds);
+
+                                g_WebViewController->add_AcceleratorKeyPressed(Callback<ICoreWebView2AcceleratorKeyPressedEventHandler>(
+                                    [hWnd](ICoreWebView2Controller* controller, ICoreWebView2AcceleratorKeyPressedEventArgs* args) -> HRESULT {
+                                        COREWEBVIEW2_KEY_EVENT_KIND kind;
+                                        args->get_KeyEventKind(&kind);
+                                        if (kind == COREWEBVIEW2_KEY_EVENT_KIND_KEY_DOWN || kind == COREWEBVIEW2_KEY_EVENT_KIND_SYSTEM_KEY_DOWN) {
+                                            UINT virtualKey;
+                                            args->get_VirtualKey(&virtualKey);
+                                            if (virtualKey == VK_ESCAPE && g_IsFullscreen) {
+                                                ToggleFullscreenMode(hWnd, false);
+                                                args->put_Handled(TRUE);
+                                            }
+                                        }
+                                        return S_OK;
+                                    }).Get(), nullptr);
+
+                                g_WebView->add_NavigationCompleted(Callback<ICoreWebView2NavigationCompletedEventHandler>(
+                                    [](ICoreWebView2* webview, ICoreWebView2NavigationCompletedEventArgs* args) -> HRESULT {
+                                        g_WebViewController->MoveFocus(COREWEBVIEW2_MOVE_FOCUS_REASON_PROGRAMMATIC);
+                                        return S_OK;
+                                    }).Get(), nullptr);
+
+                                // 加载远程网址
+                                std::wstring url = L"https://fcrs.tentmall.cn/flyPC/#/";
+                                
+                                OutputDebugStringW((L"[DEBUG] Navigating to: " + url + L"\n").c_str());
+                                g_WebView->Navigate(url.c_str());
+                                
+                                // 初次获取焦点
+                                g_WebViewController->MoveFocus(COREWEBVIEW2_MOVE_FOCUS_REASON_PROGRAMMATIC);
+
+                            }
+                            return S_OK;
+                        }).Get());
+                return S_OK;
+            }).Get());
+
+    if (FAILED(res)) {
+        WCHAR msg[256];
+        swprintf_s(msg, L"Failed to start browser environment creation (HRESULT: 0x%08X).", res);
+        MessageBoxW(hWnd, msg, L"Startup Error", MB_ICONERROR);
+    }
+}
+
+LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
+{
+    switch (message)
+    {
+    case WM_COMMAND:
+    {
+        int wmId = LOWORD(wParam);
+        switch (wmId)
+        {
+        case IDM_TOGGLE_FULLSCREEN:
+            ToggleFullscreenMode(hWnd, true);
+            break;
+        case IDM_TOGGLE_LAUNCH_FULLSCREEN:
+            g_Settings.enableFullscreen = !g_Settings.enableFullscreen;
+            CheckMenuItem(g_hMenu, IDM_TOGGLE_LAUNCH_FULLSCREEN, MF_BYCOMMAND | (g_Settings.enableFullscreen ? MF_CHECKED : MF_UNCHECKED));
+            SaveSettings();
+            break;
+        case IDM_TOGGLE_AUTOSTART:
+            g_Settings.enableAutoStart = !g_Settings.enableAutoStart;
+            CheckMenuItem(g_hMenu, IDM_TOGGLE_AUTOSTART, MF_BYCOMMAND | (g_Settings.enableAutoStart ? MF_CHECKED : MF_UNCHECKED));
+            ToggleAutoStart(g_Settings.enableAutoStart);
+            SaveSettings();
+            break;
+        }
+    }
+    break;
+    case WM_ACTIVATE:
+        // 当程序从后台回到前台时，自动将焦点还给网页，让网页恢复读取方向盘的信号
+        if (LOWORD(wParam) != WA_INACTIVE && g_WebViewController != nullptr) {
+            g_WebViewController->MoveFocus(COREWEBVIEW2_MOVE_FOCUS_REASON_PROGRAMMATIC);
+        }
+        break;
+    case WM_SIZE:
+        if (g_WebViewController != nullptr) {
+            RECT bounds;
+            GetClientRect(hWnd, &bounds);
+            g_WebViewController->put_Bounds(bounds);
+        }
+        break;
+    case WM_TIMER:
+        if (wParam == 1) {
+            g_Controller.Update();
+        }
+        break;
+    case WM_DESTROY:
+        PostQuitMessage(0);
+        break;
+    default:
+        return DefWindowProc(hWnd, message, wParam, lParam);
+    }
+    return 0;
+}

steer_url/steer_url.h

+#pragma once
+
+#include "resource.h"

steer_url/steer_url.vcxproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>17.0</VCProjectVersion>
+    <Keyword>Win32Proj</Keyword>
+    <ProjectGuid>{7f3b8ddd-ad8d-417b-8193-a02b136442f2}</ProjectGuid>
+    <RootNamespace>steerurl</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>_DEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(ProjectDir)third_party\moza\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(ProjectDir)third_party\moza\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>MOZA_SDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>$(ProjectDir)third_party\moza\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>MOZA_SDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>$(ProjectDir)third_party\moza\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="framework.h" />
+    <ClInclude Include="MozaController.h" />
+    <ClInclude Include="Resource.h" />
+    <ClInclude Include="steer_url.h" />
+    <ClInclude Include="targetver.h" />
+    <ClInclude Include="third_party\moza\include\effects.h" />
+    <ClInclude Include="third_party\moza\include\effects\Effect.h" />
+    <ClInclude Include="third_party\moza\include\effects\EffectException.h" />
+    <ClInclude Include="third_party\moza\include\effects\ETConstantForce.h" />
+    <ClInclude Include="third_party\moza\include\effects\ETDamper.h" />
+    <ClInclude Include="third_party\moza\include\effects\ETFriction.h" />
+    <ClInclude Include="third_party\moza\include\effects\ETInertia.h" />
+    <ClInclude Include="third_party\moza\include\effects\ETSine.h" />
+    <ClInclude Include="third_party\moza\include\effects\ETSpring.h" />
+    <ClInclude Include="third_party\moza\include\effects\WinDirectInputApiException.h" />
+    <ClInclude Include="third_party\moza\include\enumCode.h" />
+    <ClInclude Include="third_party\moza\include\hid_device.h" />
+    <ClInclude Include="third_party\moza\include\hid_struct.h" />
+    <ClInclude Include="third_party\moza\include\macros.h" />
+    <ClInclude Include="third_party\moza\include\mozaAPI.h" />
+    <ClInclude Include="third_party\moza\include\shifter_device.h" />
+    <ClInclude Include="third_party\moza\include\switches_device.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="MozaController.cpp" />
+    <ClCompile Include="steer_url.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="steer_url.rc" />
+  </ItemGroup>
+  <ItemGroup>
+    <Image Include="small.ico" />
+    <Image Include="steer_url.ico" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="packages.config" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+    <Import Project="..\packages\Microsoft.Web.WebView2.1.0.3856.49\build\native\Microsoft.Web.WebView2.targets" Condition="Exists('..\packages\Microsoft.Web.WebView2.1.0.3856.49\build\native\Microsoft.Web.WebView2.targets')" />
+  </ImportGroup>
+  <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
+    <PropertyGroup>
+      <ErrorText>这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。</ErrorText>
+    </PropertyGroup>
+    <Error Condition="!Exists('..\packages\Microsoft.Web.WebView2.1.0.3856.49\build\native\Microsoft.Web.WebView2.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Web.WebView2.1.0.3856.49\build\native\Microsoft.Web.WebView2.targets'))" />
+  </Target>
+</Project>
\ No newline at end of file

steer_url/steer_url.vcxproj.filters

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="源文件">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="头文件">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="资源文件">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+    <Filter Include="源文件\third_party">
+      <UniqueIdentifier>{b8208d23-10cc-4fe2-9b0d-a1043305db4c}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="源文件\third_party\moza">
+      <UniqueIdentifier>{8152eacf-b9f2-450a-9993-ed3de2203a27}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="源文件\third_party\moza\effect">
+      <UniqueIdentifier>{0fb51518-2ff6-4f0a-877e-91e076264408}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="源文件\www">
+      <UniqueIdentifier>{e197ad14-d224-4309-b764-b2f6706bfd46}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="源文件\www\image">
+      <UniqueIdentifier>{ccb9fb77-adb1-4588-9ade-f376d61e1686}</UniqueIdentifier>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="framework.h">
+      <Filter>头文件</Filter>
+    </ClInclude>
+    <ClInclude Include="targetver.h">
+      <Filter>头文件</Filter>
+    </ClInclude>
+    <ClInclude Include="Resource.h">
+      <Filter>头文件</Filter>
+    </ClInclude>
+    <ClInclude Include="steer_url.h">
+      <Filter>头文件</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\Effect.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\EffectException.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\ETConstantForce.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\ETDamper.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\ETFriction.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\ETInertia.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\ETSine.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\ETSpring.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects\WinDirectInputApiException.h">
+      <Filter>源文件\third_party\moza\effect</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\effects.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\enumCode.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\hid_device.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\hid_struct.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\macros.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\mozaAPI.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\shifter_device.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="third_party\moza\include\switches_device.h">
+      <Filter>源文件\third_party\moza</Filter>
+    </ClInclude>
+    <ClInclude Include="MozaController.h">
+      <Filter>头文件</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="steer_url.cpp">
+      <Filter>源文件</Filter>
+    </ClCompile>
+    <ClCompile Include="MozaController.cpp">
+      <Filter>源文件</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="steer_url.rc">
+      <Filter>资源文件</Filter>
+    </ResourceCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <Image Include="small.ico">
+      <Filter>资源文件</Filter>
+    </Image>
+    <Image Include="steer_url.ico">
+      <Filter>资源文件</Filter>
+    </Image>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="packages.config" />
+  </ItemGroup>
+</Project>
\ No newline at end of file

steer_url/targetver.h

+#pragma once
+
+// // 包含 SDKDDKVer.h 可定义可用的最高版本的 Windows 平台。
+// 如果希望为之前的 Windows 平台构建应用程序，在包含 SDKDDKVer.h 之前请先包含 WinSDKVer.h 并
+// 将 _WIN32_WINNT 宏设置为想要支持的平台。
+#include <SDKDDKVer.h>

steer_url/third_party/moza/include/effects.h

+#pragma once
+#include"effects/Effect.h"
+#include"effects/ETConstantForce.h"
+#include"effects/ETDamper.h"
+#include"effects/ETFriction.h"
+#include"effects/ETInertia.h"
+#include"effects/ETSine.h"
+#include"effects/ETSpring.h"

steer_url/third_party/moza/include/effects/ETConstantForce.h

+#pragma once
+#include <dinput.h>
+#include "Effect.h"
+namespace RS21::direct_input {
+/**
+ * @if english
+ * @brief Constant force effect class
+ * 1.Specialization attribute: magnitude
+ * @else
+ * @brief The ETConstantForce class 常量力效果类
+ * 1. 特化属性：强度，magnitude
+ * @endif
+ */
+class WIN_API ETConstantForce: public Effect
+{
+public:
+    ETConstantForce(Device* device);
+
+    /**
+     * @if english
+     * @brief Obtain the strength of the current ETConstantForce
+     * @return The strength of the current ETConstantForce
+     * @else
+     * @brief 获取当前ETConstantForce的强度
+     * @return 当前ETConstantForce的强度
+     * @endif
+     */
+    long magnitude();
+
+    /**
+     * @if english
+     * @brief set the strength of the current ETConstantForce
+     * @param newMagnitude The strength of the current ETConstantForce
+     * @else
+     * @brief 设置当前ETConstantForce的强度
+     * @param newMagnitude 设置的ETConstantForce的强度值
+     * @endif
+     */
+    void setMagnitude(long newMagnitude);
+
+protected:
+    /**
+     * @if english
+     * @brief Device creation force (initialization)
+     * @param device win Device interface instance
+     * @else
+     * @brief 设备创建力（初始化）
+     * @param device win设备接口实例
+     * @endif
+     */
+    void downloadToDevice(LPDIRECTINPUTDEVICE8 device) override;
+    DICONSTANTFORCE m_diPeriodic;
+
+
+};
+}//RS21::directInput

steer_url/third_party/moza/include/effects/ETDamper.h

+
+#pragma once
+#include <dinput.h>
+#include "Effect.h"
+#include <iostream>
+namespace RS21::direct_input {
+
+/**
+ * @if english
+ * @brief Damping force effect class
+ * @else
+ * @brief The ETDamper class 阻尼力效果类
+ * @endif
+ */
+class WIN_API ETDamper : public Effect
+{
+public:   
+    ETDamper(Device* device);
+/**
+ * @if english
+ * @brief Obtain offset for the condition
+ * @return Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取条件的偏移量
+ * @return 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    long offset();
+/**
+ * @if english
+ * @brief Obtain coefficient constant on the positive side of the offset
+ * @return coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取偏移正侧的系数常数
+ * @return 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    long positiveCoefficient();
+/**
+ * @if english
+ * @brief Obtain Coefficient constant on the negative side of the offset
+ * @return Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 获取偏移负侧的系数常数
+ * @return 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    long negativeCoefficient();
+/**
+ * @if english
+ * @brief Obtain maximum force output on the positive side of the offset
+ * @return Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 获得偏移正侧的最大力输出
+ * @return 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    unsigned long positiveSaturation();
+/**
+ * @if english
+ * @brief Obtain maximum force output on the negative side of the offset
+ * @return Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 获取偏移负侧的最大力输出
+ * @return 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    unsigned long negativeSaturation();
+/**
+ * @if english
+ * @brief Obtain region around lOffset in which the condition is not active
+ * @return Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 获取lOffset周围条件未激活的区域
+ * @return lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    long deadBand();
+
+/**
+ * @if english
+ * @brief set offset for the condition
+ * @param offset Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置条件的偏移量
+ * @param offset 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    void setOffset(long offset);
+ /**
+ * @if english
+ * @brief set coefficient constant on the positive side of the offset
+ * @param newPositiveCoefficient coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置偏移正侧的系数常数
+ * @param newPositiveCoefficient 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    void setPositiveCoefficient(long newPositiveCoefficient);
+ /**
+ * @if english
+ * @brief set Coefficient constant on the negative side of the offset
+ * @param newNegativeCoefficient Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 设置偏移负侧的系数常数
+ * @param newNegativeCoefficient 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    void setNegativeCoefficient(long newNegativeCoefficient);
+/**
+ * @if english
+ * @brief set maximum force output on the positive side of the offset
+ * @param newPositiveSaturation Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 设置偏移正侧的最大力输出
+ * @param newPositiveSaturation 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    void setPositiveSaturation(unsigned long newPositiveSaturation);
+/**
+ * @if english
+ * @brief set maximum force output on the negative side of the offset
+ * @param newNegativeSaturation Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 设置偏移负侧的最大力输出
+ * @param newNegativeSaturation 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    void setNegativeSaturation(unsigned long newNegativeSaturation);
+/**
+ * @if english
+ * @brief set region around lOffset in which the condition is not active
+ * @param newDeadBand Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 设置lOffset周围条件未激活的区域
+ * @param newDeadBand lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    void setDeadBand(long newDeadBand);
+protected:
+//    /**
+//     * @if english
+//     * @brief Device creation force (initialization)
+//     * @param device win Device interface instance
+//     * @else
+//     * @brief 设备创建力（初始化）
+//     * @param device win设备接口实例
+//     * @endif
+//     */
+    virtual void downloadToDevice(LPDIRECTINPUTDEVICE8 device) override;
+    DICONDITION m_diPeriodic;
+};
+
+}//RS21::directInput

steer_url/third_party/moza/include/effects/ETFriction.h

+
+#pragma once
+#include <dinput.h>
+#include "Effect.h"
+
+
+namespace RS21::direct_input {
+
+/**
+ * @if english
+ * @brief Mechanical friction force effect class
+ * @else
+ * @brief The ETFriction class 机械摩擦力效果类
+ * @endif
+ */
+class WIN_API ETFriction: public Effect
+{
+public:
+    ETFriction(Device* device);
+    //查看参数
+    /**
+ * @if english
+ * @brief Obtain offset for the condition
+ * @return Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取条件的偏移量
+ * @return 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    long offset();
+    /**
+ * @if english
+ * @brief Obtain coefficient constant on the positive side of the offset
+ * @return coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取偏移正侧的系数常数
+ * @return 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    long positiveCoefficient();
+    /**
+ * @if english
+ * @brief Obtain Coefficient constant on the negative side of the offset
+ * @return Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 获取偏移负侧的系数常数
+ * @return 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    long negativeCoefficient();
+    /**
+ * @if english
+ * @brief Obtain maximum force output on the positive side of the offset
+ * @return Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 获得偏移正侧的最大力输出
+ * @return 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    unsigned long positiveSaturation();
+    /**
+ * @if english
+ * @brief Obtain maximum force output on the negative side of the offset
+ * @return Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 获取偏移负侧的最大力输出
+ * @return 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    unsigned long negativeSaturation();
+    /**
+ * @if english
+ * @brief Obtain region around lOffset in which the condition is not active
+ * @return Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 获取lOffset周围条件未激活的区域
+ * @return lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    long deadBand();
+
+    /**
+ * @if english
+ * @brief set offset for the condition
+ * @param offset Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置条件的偏移量
+ * @param offset 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    void setOffset(long offset);
+    /**
+ * @if english
+ * @brief set coefficient constant on the positive side of the offset
+ * @param newPositiveCoefficient coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置偏移正侧的系数常数
+ * @param newPositiveCoefficient 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    void setPositiveCoefficient(long newPositiveCoefficient);
+    /**
+ * @if english
+ * @brief set Coefficient constant on the negative side of the offset
+ * @param newNegativeCoefficient Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 设置偏移负侧的系数常数
+ * @param newNegativeCoefficient 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    void setNegativeCoefficient(long newNegativeCoefficient);
+    /**
+ * @if english
+ * @brief set maximum force output on the positive side of the offset
+ * @param newPositiveSaturation Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 设置偏移正侧的最大力输出
+ * @param newPositiveSaturation 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    void setPositiveSaturation(unsigned long newPositiveSaturation);
+    /**
+ * @if english
+ * @brief set maximum force output on the negative side of the offset
+ * @param newNegativeSaturation Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 设置偏移负侧的最大力输出
+ * @param newNegativeSaturation 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    void setNegativeSaturation(unsigned long newNegativeSaturation);
+    /**
+ * @if english
+ * @brief set region around lOffset in which the condition is not active
+ * @param newDeadBand Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 设置lOffset周围条件未激活的区域
+ * @param newDeadBand lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    void setDeadBand(long newDeadBand);
+protected:
+    virtual void downloadToDevice(LPDIRECTINPUTDEVICE8 device) override;
+    DICONDITION m_diPeriodic;
+};
+}//rs21::direct_input
+

steer_url/third_party/moza/include/effects/ETInertia.h

+
+#pragma once
+#include "Effect.h"
+
+
+namespace RS21::direct_input {
+
+/**
+ * @if english
+ * @brief Inertia effect class
+ * @else
+ * @brief The ETDamper class 惯量效果类
+ * @endif
+ */
+class WIN_API ETInertia: public Effect
+{
+public:
+    ETInertia(Device* device);
+    //查看参数
+    /**
+ * @if english
+ * @brief Obtain offset for the condition
+ * @return Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取条件的偏移量
+ * @return 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    long offset();
+    /**
+ * @if english
+ * @brief Obtain coefficient constant on the positive side of the offset
+ * @return coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取偏移正侧的系数常数
+ * @return 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    long positiveCoefficient();
+    /**
+ * @if english
+ * @brief Obtain Coefficient constant on the negative side of the offset
+ * @return Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 获取偏移负侧的系数常数
+ * @return 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    long negativeCoefficient();
+    /**
+ * @if english
+ * @brief Obtain maximum force output on the positive side of the offset
+ * @return Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 获得偏移正侧的最大力输出
+ * @return 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    unsigned long positiveSaturation();
+    /**
+ * @if english
+ * @brief Obtain maximum force output on the negative side of the offset
+ * @return Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 获取偏移负侧的最大力输出
+ * @return 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    unsigned long negativeSaturation();
+    /**
+ * @if english
+ * @brief Obtain region around lOffset in which the condition is not active
+ * @return Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 获取lOffset周围条件未激活的区域
+ * @return lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    long deadBand();
+
+    /**
+ * @if english
+ * @brief set offset for the condition
+ * @param offset Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置条件的偏移量
+ * @param offset 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    void setOffset(long offset);
+    /**
+ * @if english
+ * @brief set coefficient constant on the positive side of the offset
+ * @param newPositiveCoefficient coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置偏移正侧的系数常数
+ * @param newPositiveCoefficient 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    void setPositiveCoefficient(long newPositiveCoefficient);
+    /**
+ * @if english
+ * @brief set Coefficient constant on the negative side of the offset
+ * @param newNegativeCoefficient Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 设置偏移负侧的系数常数
+ * @param newNegativeCoefficient 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    void setNegativeCoefficient(long newNegativeCoefficient);
+    /**
+ * @if english
+ * @brief set maximum force output on the positive side of the offset
+ * @param newPositiveSaturation Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 设置偏移正侧的最大力输出
+ * @param newPositiveSaturation 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    void setPositiveSaturation(unsigned long newPositiveSaturation);
+    /**
+ * @if english
+ * @brief set maximum force output on the negative side of the offset
+ * @param newNegativeSaturation Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 设置偏移负侧的最大力输出
+ * @param newNegativeSaturation 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    void setNegativeSaturation(unsigned long newNegativeSaturation);
+    /**
+ * @if english
+ * @brief set region around lOffset in which the condition is not active
+ * @param newDeadBand Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 设置lOffset周围条件未激活的区域
+ * @param newDeadBand lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    void setDeadBand(long newDeadBand);
+protected:
+    virtual void downloadToDevice(LPDIRECTINPUTDEVICE8 device) override;
+    DICONDITION m_diPeriodic;
+};
+}//rs21::direct_input
+

steer_url/third_party/moza/include/effects/ETSine.h

+
+#pragma once
+#include "Effect.h"
+#include <dinput.h>
+#include <iostream>
+namespace RS21::direct_input{
+
+/**
+ * @if english
+ * @brief Sinusoidal force effect class
+ * @else
+ * @brief The ETSine class 正弦力效果类
+ * @endif
+ */
+class WIN_API ETSine : public Effect
+{
+public:
+    ETSine(Device* device);
+
+    /**
+     * @if english
+     * @brief Obtain the strength of the current ETSine
+     * @return The strength of the current ETSine
+     * @else
+     * @brief magnitude 获取当前ETSine的强度
+     * @return 当前ETSine的强度
+     * @endif
+     */
+    unsigned long magnitude();
+
+    /**
+     * @if english
+     * @brief set the strength of the current ETSine
+     * @param newMagnitude The strength of the current ETSine
+     * @else
+     * @brief setMagnitude 设置当前ETSine的强度
+     * @param newMagnitude 设置的ETSine的强度值
+     * @endif
+     */
+    void setMagnitude(unsigned long newMagnitude);
+
+    /**
+     * @if english
+     * @brief Obtain offset for the condition
+     * @return Offset for the condition, in the range from - 10,000 through 10,000.
+     * @else
+     * @brief 获取条件的偏移量
+     * @return 条件的偏移量，范围从-10000到10000
+     * @endif
+     */
+    long offset();
+
+    /**
+     * @if english
+     * @brief set offset for the condition
+     * @param offset Offset for the condition, in the range from - 10,000 through 10,000.
+     * @else
+     * @brief 设置条件的偏移量
+     * @param offset 条件的偏移量，范围从-10000到10000
+     * @endif
+     */
+    void setOffset(long newOffset);
+
+    /**
+     * @if english
+     * @brief Obtain the current phase of ETSine
+     * @return Current phase of ETSine
+     * @else
+     * @brief phase 获取当前ETSine相位
+     * @return  当前ETSine的相位
+     * @endif
+     */
+    unsigned long phase();
+
+    /**
+     * @if english
+     * @brief set the current phase of ETSine
+     * @param newPhase current phase of ETSine
+     * @else
+     * @brief 设置当前ETSine的相位
+     * @param newPhase 设置的ETSine的相位
+     * @endif
+     */
+    void setPhase(unsigned long newPhase);
+
+    /**
+     * @if english
+     * @brief Obtain the cycle of the current ETSine
+     * @return cycle of the current ETSine
+     * @else
+     * @brief 获取当前ETSine的周期
+     * @return  当前ETSine的周期
+     * @endif
+     */
+    unsigned long period();
+
+    /**
+     * @if english
+     * @brief set the cycle of the current ETSine
+     * @param newPhase cycle of the current ETSine
+     * @else
+     * @brief 设置当前ETSine的周期
+     * @param newPeriod 设置的周期
+     * @endif
+     */
+    void setPeriod(unsigned long newPeriod);
+
+
+protected:
+    virtual void downloadToDevice(LPDIRECTINPUTDEVICE8 device) override;
+    DIPERIODIC m_diPeriodic;
+};
+}//RS21::directInput

steer_url/third_party/moza/include/effects/ETSpring.h

+
+#pragma once
+
+#include "Effect.h"
+
+namespace RS21::direct_input {
+
+/**
+ * @if english
+ * @brief Centripetal force effect class
+ * @else
+ * @brief The ETSpring class 回中力效果类
+ * @endif
+ */
+class WIN_API ETSpring: public Effect
+{
+public:
+    ETSpring(Device* device);
+
+    //查看参数
+    /**
+ * @if english
+ * @brief Obtain offset for the condition
+ * @return Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取条件的偏移量
+ * @return 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    long offset();
+    /**
+ * @if english
+ * @brief Obtain coefficient constant on the positive side of the offset
+ * @return coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 获取偏移正侧的系数常数
+ * @return 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    long positiveCoefficient();
+    /**
+ * @if english
+ * @brief Obtain Coefficient constant on the negative side of the offset
+ * @return Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 获取偏移负侧的系数常数
+ * @return 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    long negativeCoefficient();
+    /**
+ * @if english
+ * @brief Obtain maximum force output on the positive side of the offset
+ * @return Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 获得偏移正侧的最大力输出
+ * @return 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    unsigned long positiveSaturation();
+    /**
+ * @if english
+ * @brief Obtain maximum force output on the negative side of the offset
+ * @return Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 获取偏移负侧的最大力输出
+ * @return 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    unsigned long negativeSaturation();
+    /**
+ * @if english
+ * @brief Obtain region around lOffset in which the condition is not active
+ * @return Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 获取lOffset周围条件未激活的区域
+ * @return lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    long deadBand();
+
+    /**
+ * @if english
+ * @brief set offset for the condition
+ * @param offset Offset for the condition, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置条件的偏移量
+ * @param offset 条件的偏移量，范围从-10000到10000
+ * @endif
+ */
+    void setOffset(long offset);
+    /**
+ * @if english
+ * @brief set coefficient constant on the positive side of the offset
+ * @param newPositiveCoefficient coefficient constant on the positive side of the offset, in the range from - 10,000 through 10,000.
+ * @else
+ * @brief 设置偏移正侧的系数常数
+ * @param newPositiveCoefficient 偏移正侧的系数常数，范围从-10000到10000
+ * @endif
+ */
+    void setPositiveCoefficient(long newPositiveCoefficient);
+    /**
+ * @if english
+ * @brief set Coefficient constant on the negative side of the offset
+ * @param newNegativeCoefficient Coefficient constant on the negative side of the offset, in the range from - 10,000 through 10,000
+ * If the device does not support separate positive and negative coefficients, the value of lNegativeCoefficient is ignored,
+ * and the value of lPositiveCoefficient is used as both the positive and negative coefficients
+ * @else
+ * @brief 设置偏移负侧的系数常数
+ * @param newNegativeCoefficient 偏移负侧的系数常数，范围从-10000到10000。
+ * 如果设备不支持单独的正系数和负系数，则忽略lNegativeCoefficient的值，并将lPositiveCoefficiency的值用作正系数和负值
+ * @endif
+ */
+    void setNegativeCoefficient(long newNegativeCoefficient);
+    /**
+ * @if english
+ * @brief set maximum force output on the positive side of the offset
+ * @param newPositiveSaturation Maximum force output on the positive side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * @else
+ * @brief 设置偏移正侧的最大力输出
+ * @param newPositiveSaturation 偏移正侧的最大力输出，范围从0到10000。如果设备不支持力饱和，则忽略此成员的值。
+ * @endif
+ */
+    void setPositiveSaturation(unsigned long newPositiveSaturation);
+    /**
+ * @if english
+ * @brief set maximum force output on the negative side of the offset
+ * @param newNegativeSaturation Maximum force output on the negative side of the offset, in the range from 0 through 10,000.
+ * If the device does not support force saturation, the value of this member is ignored.
+ * If the device does not support separate positive and negative saturation, the value of dwNegativeSaturation is ignored, and the value of dwPositiveSaturation is used as both the positive and negative saturation.
+ * @else
+ * @brief 设置偏移负侧的最大力输出
+ * @param newNegativeSaturation 偏移负侧的最大力输出，范围从0到10000。
+ * 如果设备不支持力饱和，则忽略此成员的值。
+ * 如果设备不支持单独的正饱和和负饱和，则忽略dwNegativeSaturation的值，并使用dwPositiveSaturation值作为正饱和和负饱和。
+ * @endif
+ */
+    void setNegativeSaturation(unsigned long newNegativeSaturation);
+    /**
+ * @if english
+ * @brief set region around lOffset in which the condition is not active
+ * @param newDeadBand Region around lOffset in which the condition is not active, in the range from 0 through 10,000. In other words,
+ * the condition is not active between lOffset minus lDeadBand and lOffset plus lDeadBand.
+ * @else
+ * @brief 设置lOffset周围条件未激活的区域
+ * @param newDeadBand lOffset周围条件未激活的区域，范围从0到10000。换句话说，在lOffset减去lDeadBand和lOffset加上lDeadBnd之间，条件不活动。
+ * @endif
+ */
+    void setDeadBand(long newDeadBand);
+protected:
+    virtual void downloadToDevice(LPDIRECTINPUTDEVICE8 device) override;
+    DICONDITION m_diPeriodic;
+
+};
+
+}//rs21::direct_input

steer_url/third_party/moza/include/effects/Effect.h

+#pragma once
+#include "../macros.h"
+#include <cstdint>
+#include <string>
+#include <dinput.h>
+#include <memory>
+#include <map>
+namespace RS21::direct_input{
+class Device;
+extern unsigned int DI_MSECONDS;
+/**
+ * @if english
+ * @brief Effect Abstract Class
+ * 1. Provide API for effect start and end
+ * 2. Provide interfaces for obtaining and modifying general parameters
+ * @else
+ * @brief The Effect class 效果抽象类
+ * 1. 提供效果开始、结束API
+ * 2. 提供通用参数的获取、修改接口
+ * @endif
+ */
+class WIN_API Effect
+{
+public:
+    /**
+     * @if english
+     * @brief start Force effect
+     * @else
+     * @brief 力效果启动
+     * @endif
+     */
+    void start();
+    /**
+     * @if english
+     * @brief stop Force effect
+     * @else
+     * @brief stop 停止力效果
+     * @endif
+     */
+    void stop();
+
+    /**
+     * @if english
+     * @brief Set the power level
+     * @param newAttackLevel Power level
+     * @else
+     * @brief 设置发力级别
+     * @param newAttackLevel 发力级别
+     * @endif
+     */
+    void setAttackLevel(const unsigned long newAttackLevel = 0);
+    /**
+     * @if english
+     * @brief Obtain Power Level
+     * @return Power level
+     * @else
+     * @brief 获取发力级别
+     * @return 发力级别
+     * @endif
+     */
+    unsigned long attackLevel() const;
+
+    /**
+     * @if english
+     * @brief Obtain Power time
+     * @return Power time,Unit: ms
+     * @else
+     * @brief 获取发力时间
+     * @return 发力时间，单位：ms
+     * @endif
+     */
+    unsigned long attackTime() const;
+    /**
+     * @if english
+     * @brief set Power time
+     * @param newAttackTime Power time,Unit: ms
+     * @else
+     * @brief 设置发力时间
+     * @param newAttackTime 发力时间，单位：ms
+     * @endif
+     */
+    void setAttackTime(const unsigned long newAttackTime = 500);//单位：s
+
+    /**
+     * @if english
+     * @brief Obtain attenuation level
+     * @return attenuation level
+     * @else
+     * @brief fadeLevel 获取衰减级别
+     * @return 衰减级别
+     * @endif
+     */
+    unsigned long fadeLevel() const;
+    /**
+     * @if english
+     * @brief Set attenuation level
+     * @param newFadeLevel attenuation level
+     * @else
+     * @brief 设置衰减级别
+     * @param newFadeLevel 衰减级别
+     * @endif
+     */
+    void setFadeLevel(const unsigned long newFadeLevel = 0);
+
+    /**
+     * @if english
+     * @brief Obtain attenuation time
+     * @return attenuation time,Unit: ms
+     * @else
+     * @brief fadeTime 获取衰减时间，单位：ms
+     * @return 衰减时间
+     * @endif
+     */
+    unsigned long fadeTime()const;
+    /**
+     * @if english
+     * @brief Set attenuation time
+     * @param newFadeLevel attenuation time,Unit: ms
+     * @else
+     * @brief setFadeTime 设置衰减时间
+     * @param newFadeTime 衰减时间，单位：ms
+     * @endif
+     */
+    void setFadeTime(const unsigned long newFadeTime = 1000 );//
+
+    /**
+     * @if english
+     * @brief Obtain attenuation duration
+     * @return attenuation duration,Unit: ms
+     * @else
+     * @brief duration 获取效果持续时间
+     * @return 效果持续时间，单位：ms
+     * @endif
+     */
+    unsigned long duration() const;
+    /**
+     * @if english
+     * @brief set attenuation duration
+     * @param newDuration attenuation duration,Unit: ms
+     * @else
+     * @brief setDuration 设置效果持续时间
+     * @param newDuration 效果持续时间，单位：ms
+     * @endif
+     */
+    void setDuration(const unsigned long newDuration = 2000);
+
+    /**
+     * @if english
+     * @brief Obtain sampling period
+     * @return sampling period,Unit: ms
+     * @else
+     * @brief 获取采样周期
+     * @return 采样周期，单位：ms
+     * @endif
+     */
+    unsigned long samplePeriod() const;
+    /**
+     * @if english
+     * @brief set sampling period
+     * @param newSamplePeriod sampling period,Unit: ms
+     * @else
+     * @brief setSamplePeriod 设置采样周期
+     * @param newSamplePeriod 采样周期值，单位：ms
+     * @endif
+     */
+    void setSamplePeriod(const unsigned long newSamplePeriod = 0);
+
+    /**
+     * @if english
+     * @brief Obtain Gain
+     * @return Gain value (according to report descriptor: 0-10000)
+     * @else
+     * @brief 获取增益
+     * @return 增益值（根据报告描述符：0~10000）
+     * @endif
+     */
+    unsigned long gain() const;
+    /**
+     * @if english
+     * @brief set Gain
+     * @return newGain Gain value (according to report descriptor: 0-10000)
+     * @else
+     * @brief 设置增益值
+     * @param newGain 增益值（根据报告描述符：0~10000）
+     */
+    void setGain(const unsigned long newGain = DI_FFNOMINALMAX);
+
+    /**
+     * @if english
+     * @brief Obtain departure effect button
+     * @return departure effect button
+     * @else
+     * @brief 获取出发效果按钮
+     * @return 效果按钮
+     * @endif
+     */
+    unsigned long triggerButton() const;
+    /**
+     * @if english
+     * @brief set departure effect button
+     * @param newButtonIndex departure effect button
+     * @else
+     * @brief 设置触发效果按钮
+     * @param newButtonIndex 触发效果按钮
+     * @endif
+     */
+    void setTriggerButton(const unsigned long newButtonIndex = DIEB_NOTRIGGER);
+
+    /**
+     * @if english
+     * @brief Obtain trigger effect repetition interval
+     * @return Trigger effect repetition interval
+     * @else
+     * @brief 获取触发效果重复间隔
+     * @return 触发效果重复间隔
+     * @endif
+     */
+    unsigned long triggerRepeatInterval() const;
+    /**
+     * @if english
+     * @brief Set trigger effect repetition interval
+     * @param newRepeatInterval Trigger effect interval
+     * @else
+     * @brief 设置触发效果间隔
+     * @param newRepeatInterval 触发效果间隔
+     * @endif
+     */
+    void setTriggerRepeatInterval(const unsigned long newRepeatInterval = 0);
+
+//    void setCAxes(const unsigned long newCAxes = 2);
+    /**
+     * @if english
+     * @brief Number of effect related axes
+     * @return number of axles
+     * @else
+     * @brief 效果相关轴数
+     * @return 轴数
+     * @endif
+     */
+    unsigned long rgdAxesCount();
+    /**
+     * @if english
+     * @brief Obtain relevant axis array
+     * @return Related Axis Array
+     * @else
+     * @brief 获取相关轴数组
+     * @return 相关轴数组
+     * @endif
+     */
+    unsigned long* rgdAxes();
+    /**
+     * @if english
+     * @brief Set related axes
+     * @param axes Related axis array pointer
+     * @param size Length of related axis array
+     * @else
+     * @brief 设置相关轴
+     * @param axes 相关轴数组指针
+     * @param size 相关轴数组长度
+     * @endif
+     */
+    void setRgdAxes(unsigned long* axes, unsigned long size);//设置轴，运行时不能修改，不建议修改，使用默认
+
+    /**
+     * @if english
+     * @brief Obtain the angle of the effect in the x-axis
+     * @return The angle of the effect on the x-axis
+     * @else
+     * @brief 获取effect在x轴向的角度
+     * @return effect在x轴的角度
+     * @endif
+     */
+    long xDirection();
+    /**
+     * @if english
+     * @brief Set the angle of the effect in the x-axis
+     * @param newDegree The angle of the effect on the x-axis
+     * @else
+     * @brief 设置effect在x轴向的角度
+     * @param newDegree x轴向的角度
+     * @endif
+     */
+    void setXDirection(long newDegree = 1 );//设置x轴方向,单位：度
+//    void setEnvelope();//设置封装
+//    void virtual setCbTypeSpecificParams() = 0;//设置特殊参数长度
+//    void virtual setTypeSpecificParams() = 0;//设置特殊参数长度
+
+    /**
+     * @if english
+     * @brief Obtain the name of the current effect
+     * @return The name of the current effect
+     * @else
+     * @brief 获取当前effect的名称
+     * @return 当前effect的名称
+     * @endif
+     */
+    std::string effectName() const;
+
+    /**
+     * @if english
+     * @brief set the name of the current effect
+     * @param newEffectName The name of the effect
+     * @else
+     * @brief 设置effect别名
+     * @param newEffectName effect的别名
+     * @endif
+     */
+    void setEffectName(const std::string &newEffectName);
+
+
+    /**
+     * @if english
+     * @brief Obtain the index of the current effect
+     * @return The index of the current effect
+     * @else
+     * @brief 获取当前effect的index
+     * @return 当前effect的index
+     * @endif
+     */
+    int index() const;
+
+    /**
+     * @if english
+     * @brief set the index of the current effect
+     * @param The index of the current effect，index >= 0
+     * @else
+     * @brief 设置当前effect的index
+     * @param newIndex 当前effect的index，index >= 0
+     * @endif
+     */
+    void setIndex( unsigned int newIndex);
+
+    bool m_isRunning = false;
+protected:
+    Effect(Device* device);//抽象类，但是没有虚函数
+    ~Effect();//生命周期由device管理
+    virtual void downloadToDevice(LPDIRECTINPUTDEVICE8 device) = 0;
+    std::map<std::string, std::string> allGeneralEffectInfo();
+protected:
+    uint16_t m_effectId;
+    std::string m_effectName;
+    LPDIRECTINPUTEFFECT m_effect = NULL;
+    DIEFFECT m_diEffect;      //effect_info
+    DIENVELOPE m_diEnvelope;  //effect_instance
+    LONG* m_lDirection = nullptr;
+    DWORD *m_dwAxes = nullptr;
+    Device* m_device = nullptr;//parent
+    unsigned int m_index = 0;
+};
+}//RS21::directInput

steer_url/third_party/moza/include/effects/EffectException.h

+
+#pragma once
+#include "../macros.h"
+#include <exception>
+#include <string>
+namespace RS21::direct_input {
+
+class WIN_API EffectException : public std::exception
+{
+public:
+    EffectException(const std::string& errorMessage);
+    EffectException(const char* errorMessage);
+    virtual const char* what() const override{return m_errorStr.c_str();}
+private:
+    std::string m_errorStr;
+};
+
+}//namespace
+

steer_url/third_party/moza/include/effects/WinDirectInputApiException.h

+#pragma once
+#include "../macros.h"
+#include <exception>
+#include <string>
+#include "Windows.h" //DWORD
+#include "winbase.h"
+namespace RS21::direct_input {
+
+class WIN_API WinDirectInputApiException : public std::exception
+{
+public:
+    WinDirectInputApiException(HRESULT newHResult, std::string additionalString);
+    WinDirectInputApiException(HRESULT newHResult, const char* additionalString);
+
+    long hResult() const throw()
+    {
+        return m_hResult;
+    }
+    virtual const char* what() const throw() override
+    {
+        return m_errorString.c_str();
+    }
+private:
+    HRESULT m_hResult;
+    std::string m_errorString;
+    std::string ConvertWStringToString(wchar_t* wstr);
+};
+}//rs21::direct_input
+

steer_url/third_party/moza/include/enumCode.h

+#ifndef ENUMCODE_H
+#define ENUMCODE_H
+enum ERRORCODE
+{
+    NORMAL = 0,
+    NOINSTALLSDK,
+    NODEVICES,
+    OUTOFRANGE,
+    PARAMETERERR,
+    COLLECTIONCYCLEDATALOSS, //采集周期太长导致数据丢失
+    CREATEFFECTERR,
+    ENCODINGFAILED,
+    FFBERR,
+    FIRMWARETOOOLD, //固件版本过低
+    PITHOUSENOTREADY, // PitHouse未准备好
+};
+
+enum PRODUCTTYPE
+{
+    PRODUCT_WHEELBASE = 0,
+    PRODUCT_STEERINGWHEEL,
+    PRODUCT_DISPLAYSCREEN,
+    PRODUCT_PEDALS,
+    PRODUCT_METER,
+    PRODUCT_ADAPTER,
+    PRODUCT_HANDBRAKE,
+    PRODUCT_GEARSHIFTER,
+    PRODUCT_UNKNOWDEVICE,
+};
+#endif // BASESINGLETON_H

steer_url/third_party/moza/include/hid_device.h

+#pragma once
+
+#include "macros.h"
+
+#include <string>
+#include <vector>
+
+namespace moza {
+
+/**
+ * @if english
+ * @brief HID device class
+ * @else
+ * @brief HID设备类
+ * @endif
+ */
+class WIN_API HidDevice
+{
+public:
+    /**
+     * @if english
+     * @brief Default constructor
+     * @else
+     * @brief 无参构造
+     * @endif
+     */
+    HidDevice();
+
+    /**
+     * @if english
+     * @brief Constructs with a device instance path
+     * @param path device instance path
+     * @else
+     * @brief 从一个设备实例路径构造
+     * @param path 设备实例路径
+     * @endif
+     */
+    explicit HidDevice(const std::string& path);
+
+    /**
+     * @if english
+     * @brief Destructor, automatically closes the device and releases resources
+     * @else
+     * @brief 析构函数，内部会自动关闭设备并释放资源
+     * @endif
+     */
+    virtual ~HidDevice();
+
+    // Copying is disabled
+    HidDevice(const HidDevice&)            = delete;
+    HidDevice& operator=(const HidDevice&) = delete;
+
+    // Move only
+    HidDevice(HidDevice&& other) noexcept;
+    HidDevice& operator=(HidDevice&& other) noexcept;
+
+    /**
+     * @if english
+     * @brief Get the device instance path
+     * @return device instance path
+     * @else
+     * @brief 获取设备实例路径
+     * @return 设备实例路径
+     * @endif
+     */
+    const std::string& path() const;
+
+    /**
+     * @if english
+     * @brief Set the device instance path
+     * @param path device instance path
+     * @else
+     * @brief 设置设备实例路径
+     * @param path 设备实例路径
+     * @endif
+     */
+    void setPath(const std::string& path);
+
+    /**
+     * @if english
+     * @brief Check if the device is already opened (only indicates the opened state, does not guarantee the connection state; use isConnected function to check the connection state)
+     * @return Returns true if the device is opened; otherwise, returns false
+     * @else
+     * @brief 判断设备是否已被打开（仅表示打开状态，不保证连接状态，若需检查连接状态请使用isConnected函数）
+     * @return 如果设备已经打开，则返回true；否则返回false
+     * @endif
+     */
+    bool isOpen() const;
+
+    /**
+     * @if english
+     * @brief Check if the device is in a connected state, useful for determining if the device is disconnected
+     * @note Internally, this is determined based on the error code of the last device operation.
+     *       It is recommended to use this function if a call to the button state retrieval function returns empty,
+     *       to confirm whether the device has been disconnected
+     * @return Returns true if the device is connected; otherwise, returns false
+     * @else
+     * @brief 判断设备是否处于已连接状态，可用于判断设备是否断连
+     * @note 内部通过上一次设备操作的错误码判断。建议在执行获取按钮状态函数后返回值为空时，通过此函数加以判断设备是否已经断开连接
+     * @return 如果设备已连接，则返回true；否则返回false
+     * @endif
+     */
+    bool isConnected() const;
+
+    /**
+     * @if english
+     * @brief Open the device using the device instance path
+     * @return Returns true if the device was successfully opened; otherwise, returns false
+     * @else
+     * @brief 通过设备实例路径打开设备
+     * @return 如果设备打开成功，则返回true；否则返回false
+     * @endif
+     */
+    virtual bool open();
+
+    /**
+     * @if english
+     * @brief Close the device
+     * @else
+     * @brief 关闭设备
+     * @endif
+     */
+    virtual void close();
+
+private:
+    class HidDevicePrivate* m_impl;
+
+protected:
+    size_t               getReportSize() const;
+    size_t               getNumInputReports() const;
+    std::vector<uint8_t> read(size_t size) const;
+    std::vector<uint8_t> readLatestReport() const;
+};
+
+inline HidDevice::HidDevice(HidDevice&& other) noexcept : m_impl() { std::swap(m_impl, other.m_impl); }
+
+inline HidDevice& HidDevice::operator=(HidDevice&& other) noexcept
+{
+    if (this != &other)
+    {
+        std::swap(m_impl, other.m_impl);
+    }
+    return *this;
+}
+
+}

steer_url/third_party/moza/include/hid_struct.h

+#ifndef HID_STRUCT_H
+#define HID_STRUCT_H
+#include <vector>
+
+
+enum ROCKERMODE
+{
+    UNKNOW = 0,
+    CROSSKEY,
+    KEY,
+};
+enum KNOBMODE
+{
+    UNKNOWKNOB = 0,
+    KNOB,
+    MULTIKEY,
+};
+
+enum CLUTCHPICKMODE
+{
+    UNKNOWCLUTCHPICK = 0,
+    COMPOSITEAXIS,
+    INDEPENDENTAXIS,
+};
+
+enum ROCKEREDIR
+{
+    UP = 0,
+    RIGHTUP,
+    RIGHT,
+    RIGHTDOWM,
+    DOWM,
+    LEFTDOWM,
+    LEFT,
+    LEFTUP,
+    NONEDIR
+};
+
+//enum ERRORCODE
+//{
+//    NORMAL = 0,
+//    NOINSTALLSDK,
+//    NODEVICES,
+//    COLLECTIONCYCLEDATALOSS,
+//};
+
+struct HIDButton
+{
+    bool startValue = 0;
+    int  changeNum = -1;
+    bool isPressed() const{
+        if(changeNum == -1)
+            return startValue;
+        return startValue || changeNum;
+    };
+    bool lastPressState() const{
+        return (changeNum & 1) == 0 || changeNum == -1 ? startValue : !startValue;
+    }
+    int pressNum(){
+        return changeNum == -1 ? 0 : changeNum/2 + changeNum&0x01;
+    }
+};
+
+//没有操作为空，8同样表示没有操作，但vector第一个数据不会为8
+struct HIDRocker
+{
+    std::vector<ROCKEREDIR> rockerDatas;
+    ROCKEREDIR lastDir() const
+    {
+        return rockerDatas.empty()? NONEDIR : rockerDatas.back();
+    }
+};
+
+struct HIDKnob
+{   
+    std::vector<int> knobDatas;
+    int getOffset() const{
+        int res = 0;
+        for(auto var : knobDatas)
+            res += var;
+        return res;
+    }
+};
+
+struct HIDMultiSegmentKnob : public HIDKnob
+{
+    int getLastKey() const
+    {
+        return knobDatas.empty()? 0 : knobDatas.back();
+    }
+};
+
+enum GEAR
+{
+    R = 0,
+    GEAR1st,
+    GEAR2nd,
+    GEAR3rf,
+    GEAR4th,
+    GEAR5th,
+    GEAR6th,
+    GEAR7th,
+    GEAR0th,
+};
+
+struct HIDData
+{
+    float fSteeringWheelAngle        = NAN; // 方向盘角度
+    float fSteeringWheelVelocity     = NAN; // 方向盘速度（度每秒，基座固件版本需大于等于1.2.4.x）
+    float fSteeringWheelAcceleration = NAN; // 方向盘加速度（度每二次方秒，基座固件版本需大于等于1.2.4.x）
+    
+    int16_t       steeringWheelAxle = 0x8001;
+    int16_t       clutchSynthesisShaft = 0x8001;
+
+    int16_t       clutchIndependentShaftL = 0x8001;
+    int16_t       clutchIndependentShaftR = 0x8001;
+
+    int16_t       throttle = 0x8000;
+    int16_t       clutch = 0x8000;
+    int16_t       brake = 0x8000;
+    int16_t       handbrake = 0x8001;
+
+    HIDButton buttons[128];
+
+    HIDRocker leftRocker5_8;
+    HIDRocker rightRocker9_12;  
+
+    HIDKnob knobL45_46;
+    HIDKnob knobR47_48;
+//    HIDKnob knob2L;
+//    HIDKnob knob2R;
+
+    HIDMultiSegmentKnob multiSegmentKnob26_27or53_64;
+    HIDMultiSegmentKnob multiSegmentKnob28_29or65_76;
+    HIDMultiSegmentKnob multiSegmentKnob30_31or77_88;
+    HIDMultiSegmentKnob multiSegmentKnob39_40or89_100;
+    HIDMultiSegmentKnob multiSegmentKnob43_44or101_112;
+
+    GEAR shift = GEAR0th;
+    bool buttonHandbrake = false;
+};
+
+#endif // HID_STRUCT_H

steer_url/third_party/moza/include/macros.h

+#pragma once
+
+#ifdef DLL_EXPORTS
+#define WIN_API __declspec(dllexport)
+#else
+#define WIN_API __declspec(dllimport)
+#endif

steer_url/third_party/moza/include/mozaAPI.h

+#pragma once
+
+#include "effects.h"
+#include "enumCode.h"
+#include "hid_struct.h"
+#include "macros.h"
+
+#include <iostream>
+#include <map>
+#include <string>
+
+namespace  moza {
+
+class SwitchesDevice;
+class ShifterDevice;
+
+/**
+     * @if english
+     * @brief load sdk
+     * @else
+     * @brief 加载sdk
+     * @endif
+     */
+WIN_API void installMozaSDK();
+/**
+     * @if english
+     * @brief remove sdk
+     * @else
+     * @brief 卸载sdk
+     * @endif
+     */
+WIN_API void removeMozaSDK();
+
+//力反馈
+/**
+     * @if english
+     * @brief Create a sinusoidal force effector
+     * @param id Window id
+     * @param err Error code
+     * @return Sinusoidal force effector
+     * @else
+     * @brief 创建正弦力效果器
+     * @param id 窗口id
+     * @param err 错误码
+     * @return 正弦力效果器
+     * @endif
+     */
+WIN_API std::shared_ptr<RS21::direct_input::ETSine> createWheelbaseETSine(HWND id, ERRORCODE& err);
+/**
+     * @if english
+     * @brief Create a constant Force effector
+     * @param id Window id
+     * @param err Error code
+     * @return Constant force effector
+     * @else
+     * @brief 创建恒定力效果器
+     * @param id 窗口id
+     * @param err 错误码
+     * @return 恒定力效果器
+     * @endif
+     */
+WIN_API std::shared_ptr<RS21::direct_input::ETConstantForce> createWheelbaseETConstantForce(HWND id, ERRORCODE& err);
+/**
+     * @if english
+     * @brief Create a return force effector
+     * @param id Window id
+     * @param err Error code
+     * @return Return force effector
+     * @else
+     * @brief 创建回中力效果器
+     * @param id 窗口id
+     * @param err 错误码
+     * @return 回中力效果器
+     * @endif
+     */
+WIN_API std::shared_ptr<RS21::direct_input::ETSpring> createWheelbaseETSpring(HWND id, ERRORCODE& err);
+/**
+     * @if english
+     * @brief Create a dampener
+     * @param id Window id
+     * @param err Error code
+     * @return dampener
+     * @else
+     * @brief 创建阻尼效果器
+     * @param id 窗口id
+     * @param err 错误码
+     * @return 阻尼效果器
+     * @endif
+     */
+WIN_API std::shared_ptr<RS21::direct_input::ETDamper> createWheelbaseETDamper(HWND id, ERRORCODE& err);
+/**
+     * @if english
+     * @brief Create an inertia effector
+     * @param id Window id
+     * @param err Error code
+     * @return Inertia effector
+     * @else
+     * @brief 创建惯性效果器
+     * @param id 窗口id
+     * @param err 错误码
+     * @return 惯性效果器
+     * @endif
+     */
+WIN_API std::shared_ptr<RS21::direct_input::ETInertia> createWheelbaseETInertia(HWND id, ERRORCODE& err);
+/**
+     * @if english
+     * @brief Create a friction effector
+     * @param id Window id
+     * @param err Error code
+     * @return friction effector
+     * @else
+     * @brief 创建摩擦力效果器
+     * @param id 窗口id
+     * @param err 错误码
+     * @return 摩擦力效果器
+     * @endif
+     */
+WIN_API std::shared_ptr<RS21::direct_input::ETFriction> createWheelbaseETFriction(HWND id, ERRORCODE &err);
+/**
+     * @if english
+     * @brief Stop the force feedback effects of the wheelbase
+     * @return Error code
+     * @else
+     * @brief 停止基座的力反馈效果
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE stopForceFeedback();
+
+//HID
+/**
+     * @if english
+     * @brief Gets all hid data during the cycle
+     * @param err Error code
+     * @return hid data
+     * @else
+     * @brief 获取周期内hid的所有数据
+     * @param err 错误码
+     * @return hid数据
+     * @endif
+     */
+WIN_API const HIDData* getHIDData(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Gets the enumerated value of the connected device
+     * @param dev Device enum
+     * @param err Error code
+     * @return Device name,Empty as unconnected
+     * @else
+     * @brief 获取所连接设备的枚举值
+     * @param dev 设备枚举值
+     * @param err 错误码
+     * @return 设备名,空为未连接
+     * @endif
+     */
+WIN_API const char* getDeviceParent(PRODUCTTYPE dev, ERRORCODE& err);
+
+//电机
+/**
+     * @if english
+     * @brief Get the motor limit Angle
+     * @param err Error code
+     * @return Motor limit Angle, effective range 90-2700
+     * @else
+     * @brief 获取电机的限位角度
+     * @param err 错误码
+     * @return 电机的限位角度，有效范围90-2700
+     * @endif
+     */
+WIN_API const std::pair<int, int>* getMotorLimitAngle(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Get the motor limit Angle
+     * @param id Window id
+     * @param angle target angle,unit deg(degree)
+     * @param speed target speed,unit rpm(Revolutions Per Minute)
+     * @param err Error code
+     * @return success
+     * @else
+     * @brief 电机转至角度
+     * @param id 窗口id
+     * @param angle 目标角度，单位：deg(degree)
+     * @param speed 目标速度，单位：rpm(Revolutions Per Minute)
+     * @param err 错误码
+     * @return 是否执行成功
+     * @endif
+     */
+WIN_API void motorMoveTo(HWND id,float angle, float speed, ERRORCODE &err);
+
+WIN_API void motorStopMove();
+/**
+     * @if english
+     * @brief Get the road sensitivity of the motor
+     * @param err Error code
+     * @return Motor road sensitivity, effective range 0-10
+     * @else
+     * @brief 获取电机的路感灵敏度
+     * @param err 错误码
+     * @return 电机的路感灵敏度，有效范围0-10
+     * @endif
+     */
+WIN_API int getMotorRoadSensitivity(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the game force feedback intensity of the motor
+     * @param err Error code
+     * @return The game force feedback intensity of the motor, effective range 0-100
+     * @else
+     * @brief 获取电机的游戏力回馈强度
+     * @param err 错误码
+     * @return 电机的游戏力回馈强度，有效范围0-100
+     * @endif
+     */
+WIN_API int getMotorFfbStrength(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the maximum steering wheel speed of the motor
+     * @param err Error code
+     * @return Motor steering wheel maximum speed, effective range 10-100
+     * @else
+     * @brief 获取电机的方向盘最大转速
+     * @param err 错误码
+     * @return 电机的方向盘最大转速，有效范围10-100
+     * @endif
+     */
+WIN_API int getMotorLimitWheelSpeed(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the mechanical return strength of the motor
+     * @param err Error code
+     * @return Mechanical return strength of the motor, effective range 0-100
+     * @else
+     * @brief 获取电机的机械回中强度
+     * @param err 错误码
+     * @return 电机的机械回中强度，有效范围0-100
+     * @endif
+     */
+WIN_API int getMotorSpringStrength(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the mechanical damping of the motor
+     * @param err Error code
+     * @return Mechanical damping of motor, effective range 0-100
+     * @else
+     * @brief 获取获取电机的机械阻尼
+     * @param err 错误码
+     * @return 电机的机械阻尼,有效范围0-100
+     * @endif
+     */
+WIN_API int getMotorNaturalDamper(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the mechanical friction of the motor
+     * @param err Error code
+     * @return Mechanical friction of motor, effective range 0-100
+     * @else
+     * @brief 获取获取电机的机械摩擦
+     * @param err 错误码
+     * @return 电机的机械摩擦,有效范围0-100
+     * @endif
+     */
+WIN_API int getMotorNaturalFriction(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the velocity damping of the motor
+     * @param err Error code
+     * @return Motor damping with speed, effective range 0-100
+     * @else
+     * @brief 获取电机的随速阻尼
+     * @param err 错误码
+     * @return 电机的随速阻尼,有效范围0-100
+     * @endif
+     */
+WIN_API int getMotorSpeedDamping(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the maximum output torque limit of the motor
+     * @param err Error code
+     * @return Motor maximum output torque limit, effective range 50-100
+     * @else
+     * @brief 获取电机的最大输出扭矩限制
+     * @param err 错误码
+     * @return 电机的最大输出扭矩限制,有效范围50-100
+     * @endif
+     */
+WIN_API int getMotorPeakTorque(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the actual steering wheel inertia ratio of the motor
+     * @param err Error code
+     * @return The actual inertia ratio of the steering wheel of the motor, effective range 100-4000
+     * @else
+     * @brief 获取电机的方向盘实际惯量比
+     * @param err 错误码
+     * @return 电机的方向盘实际惯量比,有效范围100-4000
+     * @endif
+     */
+WIN_API int getMotorNaturalInertiaRatio(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the natural inertia of the motor
+     * @param err Error code
+     * @return Natural inertia of the motor, effective range 100-500
+     * @else
+     * @brief 获取电机的自然惯量
+     * @param err 错误码
+     * @return 电机的自然惯量,有效范围100-500
+     * @endif
+     */
+WIN_API int getMotorNaturalInertia(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the velocity damping starting point of the motor
+     * @param err Error code
+     * @return Velocity damping starting point of the motor, effective range 0-400
+     * @else
+     * @brief 获取电机的随速阻尼起始点
+     * @param err 错误码
+     * @return 电机的随速阻尼起始点,有效范围0-400
+     * @endif
+     */
+WIN_API int getMotorSpeedDampingStartPoint(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the motor hand off the protective switch
+     * @param err Error code
+     * @return Motor hand off protection switch, effective range 0-1
+     * @else
+     * @brief 获取电机的手离开保护开关
+     * @param err 错误码
+     * @return 电机的手离开保护开关,有效范围0-1
+     * @endif
+     */
+WIN_API int getMotorHandsOffProtection(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the motor's game force reverse switch
+     * @param err Error code
+     * @return Motor game force reverse switch, effective range 0-1
+     * @else
+     * @brief 获取电机的游戏力反向开关
+     * @param err 错误码
+     * @return 电机的游戏力反向开关,有效范围0-1
+     * @endif
+     */
+WIN_API int getMotorFfbReverse(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the frequency of the motor's road awareness equalizer
+     * @param err Error code
+     * @return Frequency of road sensing equalizer of motor,EqualizerAmp7_5; EqualizerAmp13 EqualizerAmp22_5, EqualizerAmp39 EqualizerAmp55, [0,500], EqualizerAmp100 [0100]
+     * @else
+     * @brief 获取电机的路面感知均衡器频点
+     * @param err 错误码
+     * @return 电机的路面感知均衡器频点,EqualizerAmp7_5;EqualizerAmp13,EqualizerAmp22_5,EqualizerAmp39,EqualizerAmp55,[0,500],EqualizerAmp100[0,100]
+     * @endif
+     */
+WIN_API const std::map<std::string, int>* getMotorEqualizerAmp(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Set the motor limit Angle
+     * @param limitAngle Motor limitAngle, effective range 90-2000
+     * @param gameMaximumAngle game limitAngle, effective range 90-limitAngle
+     * @return Error code
+     * @else
+     * @brief 设置电机的限位角度
+     * @param limitAngle 电机的限位角度，有效范围90-2000
+     * @param gameMaximumAngle 游戏限位角度，有效范围90-limitAngle
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorLimitAngle(int limitAngle, int gameMaximumAngle);
+/**
+     * @if english
+     * @brief Set the road sensitivity of the motor
+     * @param v Motor road sensitivity, effective range 0-10
+     * @return Error code
+     * @else
+     * @brief 设置电机的路感灵敏度
+     * @param v 电机的路感灵敏度，有效范围0-10
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorRoadSensitivity(int v);
+/**
+     * @if english
+     * @brief Set the game force feedback intensity of the motor
+     * @param v The game force feedback intensity of the motor, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置电机的游戏力回馈强度
+     * @param v 电机的游戏力回馈强度，有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorFfbStrength(int v);
+/**
+     * @if english
+     * @brief Set the maximum steering wheel speed of the motor
+     * @param v Motor steering wheel maximum speed, effective range 10-100
+     * @return Error code
+     * @else
+     * @brief 设置电机的方向盘最大转速
+     * @param v 电机的方向盘最大转速，有效范围10-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorLimitWheelSpeed(int v);
+/**
+     * @if english
+     * @brief Set the mechanical return strength of the motor
+     * @param v Mechanical return strength of the motor, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置电机的机械回中强度
+     * @param v 电机的机械回中强度，有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorSpringStrength(int v);
+/**
+     * @if english
+     * @brief Set to get the mechanical damping of the motor
+     * @param v Mechanical damping of motor, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置获取电机的机械阻尼
+     * @param v 电机的机械阻尼,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorNaturalDamper(int v);
+/**
+     * @if english
+     * @brief Set to get the mechanical friction of the motor
+     * @param v Mechanical friction of motor, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置获取电机的机械摩擦
+     * @param v 电机的机械摩擦,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorNaturalFriction(int v);
+/**
+     * @if english
+     * @brief Set the speed damping of the motor
+     * @param v Motor damping with speed, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置电机的随速阻尼
+     * @param v 电机的随速阻尼,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorSpeedDamping(int v);
+/**
+     * @if english
+     * @brief Set the maximum output torque limit of the motor
+     * @param v Motor maximum output torque limit, effective range 50-100
+     * @return Error code
+     * @else
+     * @brief 设置电机的最大输出扭矩限制
+     * @param v 电机的最大输出扭矩限制,有效范围50-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorPeakTorque(int v);
+/**
+     * @if english
+     * @brief Set the actual steering wheel inertia ratio of the motor
+     * @param v The actual inertia ratio of the steering wheel of the motor, effective range 100-4000
+     * @return Error code
+     * @else
+     * @brief 设置电机的方向盘实际惯量比
+     * @param v 电机的方向盘实际惯量比,有效范围100-4000
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorNaturalInertiaRatio(int v);
+/**
+     * @if english
+     * @brief Set the natural inertia of the motor
+     * @param v Natural inertia of the motor, effective range 100-500
+     * @return Error code
+     * @else
+     * @brief 设置电机的自然惯量
+     * @param v 电机的自然惯量,有效范围100-500
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorNaturalInertia(int v);
+/**
+     * @if english
+     * @brief Set the velocity damping starting point of the motor
+     * @param v Velocity damping starting point of the motor, effective range 0-400
+     * @return Error code
+     * @else
+     * @brief 设置电机的随速阻尼起始点
+     * @param v 电机的随速阻尼起始点,有效范围0-400
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorSpeedDampingStartPoint(int v);
+/**
+     * @if english
+     * @brief Set motor hand off protection switch
+     * @param v Motor hand off protection switch, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置电机的手离开保护开关
+     * @param v 电机的手离开保护开关,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorHandsOffProtection(int v);
+/**
+     * @if english
+     * @brief Set the game force reverse switch of the motor
+     * @param v Motor game force reverse switch, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置电机的游戏力反向开关
+     * @param v 电机的游戏力反向开关,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorFfbReverse(int v);
+/**
+     * @if english
+     * @brief Set the frequency of the motor's road awareness equalizer
+     * @param v Frequency of the motor's road sense equalizer,EqualizerAmp7_5;EqualizerAmp13,EqualizerAmp22_5,EqualizerAmp39,EqualizerAmp55,[0,500],EqualizerAmp100[0,100]
+     * @return Error code
+     * @else
+     * @brief 设置电机的路面感知均衡器频点
+     * @param v 电机的路面感知均衡器频点,EqualizerAmp7_5;EqualizerAmp13,EqualizerAmp22_5,EqualizerAmp39,EqualizerAmp55,[0,500],EqualizerAmp100[0,100]
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setMotorEqualizerAmp(const std::map<std::string, int>& v);
+/**
+     * @if english
+     * @brief Soft restart of motor
+     * @return Error code
+     * @else
+     * @brief 电机软重启
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE SoftReboot();
+
+//方向盘
+/**
+     * @if english
+     * @brief Steering wheel alignment
+     * @return Error code
+     * @else
+     * @brief 方向盘对中
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE CenterWheel();
+/**
+     * @if english
+     * @brief Get steering wheel indicator brightness
+     * @param err Error code
+     * @return Steering wheel indicator brightness, effective range 0-100
+     * @else
+     * @brief 获取方向盘的指示灯亮度
+     * @param err 错误码
+     * @return 方向盘的指示灯亮度,有效范围0-100
+     * @endif
+     */
+WIN_API int getSteeringWheelShiftIndicatorBrightness(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the steering wheel's clutch pattern
+     * @param err Error code
+     * @return Steering wheel clutch mode, effective range 1-3
+     * @else
+     * @brief 获取方向盘的离合拨片模式
+     * @param err 错误码
+     * @return 方向盘的离合拨片模式,有效范围1-3
+     * @endif
+     */
+WIN_API int getSteeringWheelClutchPaddleAxisMode(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the clutch combination value of the steering wheel
+     * @param err Error code
+     * @return Steering wheel clutch combination value, effective range 0-100
+     * @else
+     * @brief 获取方向盘的离合拨片组合值
+     * @param err 错误码
+     * @return 方向盘的离合拨片组合值,有效范围0-100
+     * @endif
+     */
+WIN_API int getSteeringWheelClutchPaddleCombinePos(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the steering wheel's band knob mode
+     * @param err Error code
+     * @return Steering wheel's band knob mode, effective range 0-1
+     * @else
+     * @brief 获取方向盘的波段旋钮模式
+     * @param err 错误码
+     * @return 方向盘的波段旋钮模式,有效范围0-1
+     * @endif
+     */
+WIN_API int getSteeringWheelKnobMode(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the joystick pattern for the steering wheel
+     * @param err Error code
+     * @return Rocker mode for steering wheel, effective range 0-1
+     * @else
+     * @brief 获取方向盘的摇杆模式
+     * @param err 错误码
+     * @return 方向盘的摇杆模式,有效范围0-1
+     * @endif
+     */
+WIN_API int getSteeringWheelJoystickHatswitchMode(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the steering wheel's indicator switch mode
+     * @param err Error code
+     * @return Steering wheel indicator switch mode, effective range 1-3
+     * @else
+     * @brief 获取方向盘的指示灯开关模式
+     * @param err 错误码
+     * @return 方向盘的指示灯开关模式,有效范围1-3
+     * @endif
+     */
+WIN_API int getSteeringWheelShiftIndicatorSwitch(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the steering wheel indicator display mode
+     * @param err Error code
+     * @return Steering wheel indicator display mode, effective range 0-1
+     * @else
+     * @brief 获取方向盘的指示灯显示模式
+     * @param err 错误码
+     * @return 方向盘的指示灯显示模式,有效范围0-1
+     * @endif
+     */
+WIN_API int getSteeringWheelShiftIndicatorMode(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the steering wheel indicator color
+     * @param err Error code
+     * @return Indicator color
+     * @else
+     * @brief 获取方向盘的指示灯颜色
+     * @param err 错误码
+     * @return 指示灯颜色
+     * @endif
+     */
+WIN_API const std::vector<std::string>* getSteeringWheelShiftIndicatorColor(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Gets the steering wheel's indicator speed indication percentage
+     * @param err Error code
+     * @return Steering wheel indicator speed indicates percentage
+     * @else
+     * @brief 获取方向盘的指示灯转速提示百分比
+     * @param err 错误码
+     * @return 方向盘的指示灯转速提示百分比
+     * @endif
+     */
+WIN_API const std::vector<int>* getSteeringWheelShiftIndicatorLightRpm(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Gets the speed unit of the display
+     * @param err Error code
+     * @return The speed unit of the display, effective range 0-1
+     * @else
+     * @brief 获取显示屏的速度单位
+     * @param err 错误码
+     * @return 显示屏的速度单位,有效范围0-1
+     * @endif
+     */
+WIN_API int getSteeringWheelSpeedUnit(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the temperature unit of the display
+     * @param err Error code
+     * @return Temperature unit of the display, effective range 0-1
+     * @else
+     * @brief 获取显示屏的温度单位
+     * @param err 错误码
+     * @return 显示屏的温度单位,有效范围0-1
+     * @endif
+     */
+WIN_API int getSteeringWheelTemperatureUnit(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Gets the screen brightness of the display
+     * @param err Error code
+     * @return Display screen brightness, effective range 0-100
+     * @else
+     * @brief 获取显示屏的屏幕亮度
+     * @param err 错误码
+     * @return 显示屏的屏幕亮度,有效范围0-100
+     * @endif
+     */
+WIN_API int getSteeringWheelScreenBrightness(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get UI list
+     * @param err Error code
+     * @return UI list
+     * @else
+     * @brief 获取UI列表
+     * @param err 错误码
+     * @return UI列表
+     * @endif
+     */
+WIN_API const std::map<int, std::string>* getSteeringWheelScreenUIList(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the current UI
+     * @param err Error code
+     * @return current UI
+     * @else
+     * @brief 获取当前UI
+     * @param err 错误码
+     * @return 当前UI
+     * @endif
+     */
+WIN_API int getSteeringWheelScreenCurrentUI(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Set steering wheel indicator brightness
+     * @param v Steering wheel indicator brightness, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的指示灯亮度
+     * @param v 方向盘的指示灯亮度,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelShiftIndicatorBrightness(int v);
+/**
+     * @if english
+     * @brief Set the steering wheel's clutch pattern
+     * @param v Steering wheel clutch mode, effective range 1-3
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的离合拨片模式
+     * @param v 方向盘的离合拨片模式,有效范围1-3
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelClutchPaddleAxisMode(int v);
+/**
+     * @if english
+     * @brief Set the clutch combination value of the steering wheel
+     * @param v Steering wheel clutch combination value, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的离合拨片组合值
+     * @param v 方向盘的离合拨片组合值,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelClutchPaddleCombinePos(int v);
+/**
+     * @if english
+     * @brief Set the steering wheel's band knob mode
+     * @param v Steering wheel's band knob mode, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的波段旋钮模式
+     * @param v 方向盘的波段旋钮模式,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelKnobMode(int v);
+/**
+     * @if english
+     * @brief Set the rocker mode for the steering wheel
+     * @param v Rocker mode for steering wheel, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的摇杆模式
+     * @param v 方向盘的摇杆模式,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelJoystickHatswitchMode(int v);
+/**
+     * @if english
+     * @brief Set the steering wheel indicator switch mode
+     * @param v Steering wheel indicator switch mode, effective range 1-3
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的指示灯开关模式
+     * @param v 方向盘的指示灯开关模式,有效范围1-3
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelShiftIndicatorSwitch(int v);
+/**
+     * @if english
+     * @brief Set the steering wheel indicator display mode
+     * @param v Steering wheel indicator display mode, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的指示灯显示模式
+     * @param v 方向盘的指示灯显示模式,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelShiftIndicatorMode(int v);
+/**
+     * @if english
+     * @brief Set the steering wheel indicator color
+     * @param v Indicator color
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的指示灯颜色
+     * @param v 指示灯颜色
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelShiftIndicatorColor(const std::vector<std::string>& v);
+/**
+     * @if english
+     * @brief Set the steering wheel's indicator speed indication percentage
+     * @param v Steering wheel indicator speed indication percentage, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置方向盘的指示灯转速提示百分比
+     * @param v 方向盘的指示灯转速提示百分比,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelShiftIndicatorLightRpm(const std::vector<int>& v);
+/**
+     * @if english
+     * @brief Set the speed unit of the display
+     * @param v The speed unit of the display, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置显示屏的速度单位
+     * @param v 显示屏的速度单位,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelSpeedUnit(int v);
+/**
+     * @if english
+     * @brief Set the temperature unit of the display
+     * @param v Temperature unit of the display, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置显示屏的温度单位
+     * @param v 显示屏的温度单位,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelTemperatureUnit(int v);
+/**
+     * @if english
+     * @brief Set the screen brightness of the display
+     * @param v Display screen brightness, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置显示屏的屏幕亮度
+     * @param v 显示屏的屏幕亮度,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelScreenBrightness(int v);
+/**
+     * @if english
+     * @brief Set current UI
+     * @param v current UI
+     * @return Error code
+     * @else
+     * @brief 设置当前UI
+     * @param v 当前UI
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setSteeringWheelScreenCurrentUI(int v);
+
+//显示器
+/**
+     * @if english
+     * @brief Get the speed unit of the display
+     * @param err Error code
+     * @return The speed unit of the display, effective range 0-1, 0-metric 1-imperial
+     * @else
+     * @brief 获取显示屏的速度单位
+     * @param err 错误码
+     * @return 显示屏的速度单位,有效范围0-1,0-公制 1-英制
+     * @endif
+     */
+WIN_API int getDisplayScreenSpeedUnit(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the temperature unit of the display
+     * @param err Error code
+     * @return Temperature unit of the display, effective range 0-1, 0-degrees Celsius, 1-degrees Fahrenheit
+     * @else
+     * @brief 获取显示屏的温度单位
+     * @param err 错误码
+     * @return 显示屏的温度单位,有效范围0-1,0-摄氏度 1-华氏度
+     * @endif
+     */
+WIN_API int getDisplayScreenTemperatureUnit(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the screen brightness of the display
+     * @param err Error code
+     * @return Display screen brightness, effective range 0-100
+     * @else
+     * @brief 获取显示屏的屏幕亮度
+     * @param err 错误码
+     * @return 显示屏的屏幕亮度,有效范围0-100
+     * @endif
+     */
+WIN_API int getDisplayScreenScreenBrightness(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the display UI list
+     * @param err Error code
+     * @return UI list
+     * @else
+     * @brief 获取显示屏UI列表
+     * @param err 错误码
+     * @return UI列表
+     * @endif
+     */
+WIN_API const std::map<int, std::string>* getDisplayScreenScreenUIList(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the current UI of the display
+     * @param err Error code
+     * @return current UI
+     * @else
+     * @brief 获取显示屏当前UI
+     * @param err 错误码
+     * @return 当前UI
+     * @endif
+     */
+WIN_API int getDisplayScreenScreenCurrentUI(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Set the speed unit of the display
+     * @param v The speed unit of the display, effective range 0-1, 0-metric 1-imperial
+     * @return Error code
+     * @else
+     * @brief 设置显示屏的速度单位
+     * @param v 显示屏的速度单位,有效范围0-1,0-公制 1-英制
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setDisplayScreenSpeedUnit(int v);
+/**
+     * @if english
+     * @brief Set the temperature unit of the display
+     * @param v Temperature unit of the display, effective range 0-1, 0-degrees Celsius, 1-degrees Fahrenheit
+     * @return Error code
+     * @else
+     * @brief 设置显示屏的温度单位
+     * @param v 显示屏的温度单位,有效范围0-1,0-摄氏度 1-华氏度
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setDisplayScreenTemperatureUnit(int v);
+/**
+     * @if english
+     * @brief Set the screen brightness of the display
+     * @param v Display screen brightness, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置显示屏的屏幕亮度
+     * @param v 显示屏的屏幕亮度,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setDisplayScreenScreenBrightness(int v);
+/**
+     * @if english
+     * @brief Set the current UI of the display
+     * @param v UI id
+     * @return Error code
+     * @else
+     * @brief 设置显示屏当前UI
+     * @param v UI id
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setDisplayScreenScreenCurrentUI(int v);
+
+//踏板
+/**
+     * @if english
+     * @brief Get the clutch output direction of the pedal
+     * @param err Error code
+     * @return Pedal clutch output direction, effective range 0-1, 0-forward 1-reverse
+     * @else
+     * @brief 获取踏板的离合输出方向
+     * @param err 错误码
+     * @return 踏板的离合输出方向,有效范围0-1,0-正向 1-反向
+     * @endif
+     */
+WIN_API int getPedalClutchOutDir(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the brake output direction of the pedal
+     * @param err Error code
+     * @return Pedal brake output direction, effective range 0-1, 0-forward 1-reverse
+     * @else
+     * @brief 获取踏板的刹车输出方向
+     * @param err 错误码
+     * @return 踏板的刹车输出方向,有效范围0-1,0-正向 1-反向
+     * @endif
+     */
+WIN_API int getPedalBrakeOutDir(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the throttle output direction of the pedal
+     * @param err Error code
+     * @return Pedal throttle output direction, effective range 0-1, 0-forward 1-reverse
+     * @else
+     * @brief 获取踏板的油门输出方向
+     * @param err 错误码
+     * @return 踏板的油门输出方向,有效范围0-1,0-正向 1-反向
+     * @endif
+     */
+WIN_API int getPedalAccOutDir(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the percentage of pressure binding points of the pedal
+     * @param err Error code
+     * @return Pedal pressure binding percentage, effective range 0-100
+     * @else
+     * @brief 获取踏板的压力结合点百分比
+     * @param err 错误码
+     * @return 踏板的压力结合点百分比,有效范围0-100
+     * @endif
+     */
+WIN_API int getPedalBrakePressCombine(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the pedal clutch output nonlinear adjustment
+     * @param err Error code
+     * @return Pedal clutch output nonlinear adjustment
+     * @else
+     * @brief
+     * @param err 错误码
+     * @return 踏板离合输出非线性调整
+     * @endif
+     */
+WIN_API const std::vector<int>* getPedalClutchNonLinear(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the pedal throttle output nonlinear adjustment
+     * @param err Error code
+     * @return Pedal throttle output nonlinear adjustment
+     * @else
+     * @brief 获取踏板油门输出非线性调整
+     * @param err 错误码
+     * @return 踏板油门输出非线性调整
+     * @endif
+     */
+WIN_API const std::vector<int>* getPedalAccNonLinear(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the pedal brake output nonlinear adjustment
+     * @param err Error code
+     * @return Pedal brake output nonlinear adjustment
+     * @else
+     * @brief 获取踏板刹车输出非线性调整
+     * @param err 错误码
+     * @return 踏板刹车输出非线性调整
+     * @endif
+     */
+WIN_API const std::vector<int>* getPedalBrakeNonLinear(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Pedal clutch calibration begins
+     * @return Error code
+     * @else
+     * @brief 踏板离合标定开始
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE ClutchCalibrateStrat();
+/**
+     * @if english
+     * @brief Pedal clutch calibration is complete
+     * @return Error code
+     * @else
+     * @brief 踏板离合标定结束
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE ClutchCalibrateFinish();
+/**
+     * @if english
+     * @brief Pedal throttle calibration begins
+     * @return Error code
+     * @else
+     * @brief 踏板油门标定开始
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE AccCalibrateStrat();
+/**
+     * @if english
+     * @brief Pedal throttle calibration is complete
+     * @return Error code
+     * @else
+     * @brief 踏板油门标定结束
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE AccCalibrateFinish();
+/**
+     * @if english
+     * @brief Pedal brake calibration begins
+     * @return Error code
+     * @else
+     * @brief 踏板刹车标定开始
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE BrakeCalibrateStrat();
+/**
+     * @if english
+     * @brief Pedal brake calibration complete
+     * @return Error code
+     * @else
+     * @brief 踏板刹车标定结束
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE BrakeCalibrateFinish();
+/**
+     * @if english
+     * @brief Set the clutch output direction of the pedal
+     * @param v Pedal clutch output direction, effective range 0-1, 0-forward 1-reverse
+     * @return Error code
+     * @else
+     * @brief 设置踏板的离合输出方向
+     * @param v 踏板的离合输出方向,有效范围0-1,0-正向 1-反向
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalClutchOutDir(int v);
+/**
+     * @if english
+     * @brief Set the brake output direction of the pedal
+     * @param v Pedal brake output direction, effective range 0-1, 0-forward 1-reverse
+     * @return Error code
+     * @else
+     * @brief 设置踏板的刹车输出方向
+     * @param v 踏板的刹车输出方向,有效范围0-1,0-正向 1-反向
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalBrakeOutDir(int v);
+/**
+     * @if english
+     * @brief Set the throttle output direction of the pedal
+     * @param v Pedal throttle output direction, effective range 0-1, 0-forward 1-reverse
+     * @return Error code
+     * @else
+     * @brief 设置踏板的油门输出方向
+     * @param v 踏板的油门输出方向,有效范围0-1,0-正向 1-反向
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalAccOutDir(int v);
+/**
+     * @if english
+     * @brief Set the percentage of pressure binding points for the pedal
+     * @param v Pedal pressure binding percentage, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置踏板的压力结合点百分比
+     * @param v 踏板的压力结合点百分比,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalBrakePressCombine(int v);
+/**
+     * @if english
+     * @brief Set pedal clutch output nonlinear adjustment
+     * @param v Pedal clutch output nonlinear adjustment, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置踏板离合输出非线性调整
+     * @param v 踏板离合输出非线性调整，有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalClutchNonLinear(const std::vector<int>& v);
+/**
+     * @if english
+     * @brief Set pedal throttle output nonlinear adjustment
+     * @param v Pedal throttle output nonlinear adjustment, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 设置踏板油门输出非线性调整
+     * @param v 踏板油门输出非线性调整，有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalAccNonLinear(const std::vector<int>& v);
+/**
+     * @if english
+     * @brief Set pedal brake output nonlinear adjustment
+     * @param v Pedal brake output nonlinear adjustment
+     * @return Error code
+     * @else
+     * @brief 设置踏板刹车输出非线性调整
+     * @param v 踏板刹车输出非线性调整
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setPedalBrakeNonLinear(const std::vector<int>& v);
+
+//手刹
+/**
+     * @if english
+     * @brief Get the output direction of the handbrake
+     * @param err Error code
+     * @return Hand brake output direction, effective range 0-1
+     * @else
+     * @brief 获取手刹的输出方向
+     * @param err 错误码
+     * @return 手刹的输出方向,有效范围0-1
+     * @endif
+     */
+WIN_API int getHandbrakeOutDir(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the application mode of the handbrake
+     * @param err Error code
+     * @return Handbrake application mode, effective range 0-1
+     * @else
+     * @brief 获取手刹的应用模式
+     * @param err 错误码
+     * @return 手刹的应用模式,有效范围0-1
+     * @endif
+     */
+WIN_API int getHandbrakeApplicationMode(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the nonlinear adjustment of handbrake output
+     * @param err Error code
+     * @return Handbrake output nonlinear adjustment
+     * @else
+     * @brief 获取手刹输出非线性调整
+     * @param err 错误码
+     * @return 手刹输出非线性调整
+     * @endif
+     */
+WIN_API const std::vector<int>* getHandbrakeNonLinear(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Handbrake calibration Start
+     * @return Error code
+     * @else
+     * @brief 手刹标定开始
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE HandbrakeCalibrateStart();
+/**
+     * @if english
+     * @brief Handbrake calibration complete
+     * @return Error code
+     * @else
+     * @brief 手刹标定结束
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE HandbrakeCalibrateFinish();
+/**
+     * @if english
+     * @brief Set the output direction of the handbrake
+     * @param v Hand brake output direction, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置手刹的输出方向
+     * @param v 手刹的输出方向,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setHandbrakeOutDir(int v);
+/**
+     * @if english
+     * @brief Set the application mode of the handbrake
+     * @param v Handbrake application mode, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 设置手刹的应用模式
+     * @param v 手刹的应用模式,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setHandbrakeApplicationMode(int v);
+/**
+     * @if english
+     * @brief Set the handbrake output nonlinear adjustment
+     * @param v Handbrake output nonlinear adjustment
+     * @return Error code
+     * @else
+     * @brief 设置手刹输出非线性调整
+     * @param v 手刹输出非线性调整
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setHandbrakeNonLinear(const std::vector<int>& v);
+
+//换挡器
+/**
+     * @if english
+     * @brief Get the downshift refill output percentage of the shifter
+     * @param err Error code
+     * @return Downshift oil output percentage of the stopper, effective range 0-100
+     * @else
+     * @brief 获取换挡器的降档补油输出百分比
+     * @param err 错误码
+     * @return 挡器的降档补油输出百分比,有效范围0-100
+     * @endif
+     */
+WIN_API int getHandingShifterAutoBlipOutput(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the downshift refill duration of the shifter
+     * @param err Error code
+     * @return Downshift replenishment duration of gear shifter, effective range 0-1000
+     * @else
+     * @brief 获取换挡器的降档补油持续时间
+     * @param err 错误码
+     * @return 换挡器的降档补油持续时间,有效范围0-1000
+     * @endif
+     */
+WIN_API int getHandingShifterAutoBlipDuration(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Get the downshift refill switch of the gear shifter
+     * @param err Error code
+     * @return Downshift oil refill switch of gear shifter, effective range 0-1
+     * @else
+     * @brief 获取换挡器的降档补油开关
+     * @param err 错误码
+     * @return 换挡器的降档补油开关,有效范围0-1
+     * @endif
+     */
+WIN_API int getHandingShifterAutoBlipSwitch(ERRORCODE& err);
+
+/**
+     * @if english
+     * @brief Gear shifter start calibration
+     * @return Error code
+     * @else
+     * @brief 换挡器开始标定
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE ShifterCalibrateStart();
+/**
+     * @if english
+     * @brief Shift end calibration
+     * @return Error code
+     * @else
+     * @brief 换挡器结束标定
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE ShifterCalibrateFinish();
+/**
+     * @if english
+     * @brief Get the downshift refill output percentage of the shifter
+     * @param v Downshift oil output percentage of the stopper, effective range 0-100
+     * @return Error code
+     * @else
+     * @brief 获取换挡器的降档补油输出百分比
+     * @param v 挡器的降档补油输出百分比,有效范围0-100
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setHandingShifterAutoBlipOutput(int v);
+/**
+     * @if english
+     * @brief Get the downshift refill duration of the shifter
+     * @param v Downshift replenishment duration of gear shifter, effective range 0-1000
+     * @return Error code
+     * @else
+     * @brief 获取换挡器的降档补油持续时间
+     * @param v 换挡器的降档补油持续时间,有效范围0-1000
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setHandingShifterAutoBlipDuration(int v);
+/**
+     * @if english
+     * @brief Get the downshift refill switch of the gear shifter
+     * @param v Downshift oil refill switch of gear shifter, effective range 0-1
+     * @return Error code
+     * @else
+     * @brief 获取换挡器的降档补油开关
+     * @param v 换挡器的降档补油开关,有效范围0-1
+     * @return 错误码
+     * @endif
+     */
+WIN_API ERRORCODE setHandingShifterAutoBlipSwitch(int v);
+
+/**
+     * @if english
+     * @brief Enumerates all MOZA Switches devices
+     * @param err Error code
+     * @return A list of device objects
+     * @else
+     * @brief 枚举出所有MOZA Switches设备（多功能组合开关）
+     * @param err 错误码
+     * @return 设备对象列表
+     * @endif
+     */
+WIN_API std::vector<moza::SwitchesDevice> enumSwitchesDevices(ERRORCODE& err);
+/**
+     * @if english
+     * @brief Enumerates all MOZA Shifter devices
+     * @param err Error code
+     * @return A list of device objects
+     * @else
+     * @brief 枚举出所有MOZA Shifter设备（换挡器）
+     * @param err 错误码
+     * @return 设备对象列表
+     * @endif
+     */
+WIN_API std::vector<moza::ShifterDevice> enumShifterDevices(ERRORCODE& err);
+
+}

steer_url/third_party/moza/include/shifter_device.h

+#pragma once
+
+#include "./hid_device.h"
+
+namespace moza {
+
+class WIN_API ShifterDevice : public HidDevice
+{
+public:
+    using HidDevice::HidDevice;
+
+    /**
+     * @if english
+     * @brief Get the current gear of the shifter
+     * @return The current gear
+     * @retval -1 for reverse gear, 0 for neutral gear, and 1-7 for forward gears.
+     *         During gear shifting, since the neutral position is passed through, a value of 0 may appear during this process.
+     * @warning This function waits for the HID report while reading data, until valid data is received or an error occurs.
+                This means the execution time of this function may be relatively long, and it is not recommended to call it in the main thread.
+     * @else
+     * @brief 获取换挡器的当前档位
+     * @return 当前档位
+     * @retval -1为倒档，0为空档，1-7为前进档。在切换档位时，因为中途会经过空档，所以在这个过程中会出现0的值
+     * @warning 该函数在读取数据时会等待HID报文，直到读取到有效数据或者发生错误。这意味着该函数的执行时间可能会比较长，不适合在主线程中调用
+     * @endif
+     */
+    int getCurrentGear() const;
+};
+
+}

steer_url/third_party/moza/include/switches_device.h

+#pragma once
+
+#include "./hid_device.h"
+
+enum ERRORCODE;
+
+namespace moza {
+
+/**
+ * @if english
+ * @brief Enumeration of switch indices for MOZA Switches devices
+ * @note The enumeration values can be directly used as indices for the switch state array
+ * @note Toggle Switch is a latching switch (it remains triggered after being pressed);
+ *       Rotary Switch is a position switch (it stays at different positions or settings).
+ * @else
+ * @brief MOZA Switches（多功能组合开关）设备的开关索引枚举
+ * @note 枚举值可直接用作开关状态数组的下标
+ * @note Toggle Switch是保持型开关（按下触发后一直保持）；Rotary Switch是拨动型开关（保持在不同挡位/位置）
+ * @endif
+ */
+enum SwitchesIndex
+{
+    HeadlightOff = 0,   /* Rotary Switch 1 */
+    HeadlightPark,      /* Rotary Switch 1 */
+    HeadlightHigh,      /* Rotary Switch 1 */
+    HighBeam,           /* Rotary Switch 2 special */
+    FlasherOff,         /* Rotary Switch 2 special */
+    Flasher,            /* Rotary Switch 2 special */
+    FogLight,           /* Toggle Switch */
+    TurnRight,          /* Rotary Switch 3 */
+    TurnSignalOff,      /* Rotary Switch 3 */
+    TurnLeft,           /* Rotary Switch 3 */
+    RearWiperOff,       /* Rotary Switch 4 */
+    RearWiperSpray,     /* Rotary Switch 4 */
+    RearWiperWash,      /* Rotary Switch 4 toggle */
+    WiperSensitivity1,  /* Rotary Switch 5 */
+    WiperSensitivity2,  /* Rotary Switch 5 */
+    WiperSensitivity3,  /* Rotary Switch 5 */
+    WiperSensitivity4,  /* Rotary Switch 5 */
+    WiperSensitivity5,  /* Rotary Switch 5 */
+    FrontWiperWash,     /* Toggle Switch */
+    FrontWiperSingle,   /* Rotary Switch 6 toggle */
+    FrontWiperOff,      /* Rotary Switch 6 */
+    FrontWiperInterval, /* Rotary Switch 6 */
+    FrontWiperLow,      /* Rotary Switch 6 */
+    FrontWiperHigh,     /* Rotary Switch 6 */
+    CruiseOnOff,        /* Toggle Switch */
+    CruiseDecrease,     /* Toggle Switch */
+    CruiseIncrease,     /* Toggle Switch */
+    CruiseCancel,       /* Toggle Switch */
+
+    MAX_SWITCHES_INDEX
+};
+
+/**
+ * @if english
+ * @brief Group of switches, specifically for Rotary Switches. Each group corresponds to the different positions of a single Rotary Switch
+ * @else
+ * @brief 开关组，仅针对Rotary Switch旋转型开关，每组就是一个Rotary Switch对应在不同位置
+ * @endif
+ */
+const static std::vector<SwitchesIndex> SWITCHES_GROUPS[] = {
+    {HeadlightOff, HeadlightPark, HeadlightHigh},                                                    /* Rotary Switch Group 1 */
+    {HighBeam, FlasherOff, Flasher},                                                                 /* Rotary Switch Group 2 */
+    {TurnRight, TurnSignalOff, TurnLeft},                                                            /* Rotary Switch Group 3 */
+    {RearWiperOff, RearWiperSpray, RearWiperWash},                                                   /* Rotary Switch Group 4 */
+    {WiperSensitivity1, WiperSensitivity2, WiperSensitivity3, WiperSensitivity4, WiperSensitivity5}, /* Rotary Switch Group 5 */
+    {FrontWiperSingle, FrontWiperOff, FrontWiperInterval, FrontWiperLow, FrontWiperHigh},            /* Rotary Switch Group 6 */
+};
+
+/**
+ * @if english
+ * @brief MOZA Switches device class
+ * @else
+ * @brief MOZA Switches（多功能组合开关）设备类
+ * @endif
+ */
+class WIN_API SwitchesDevice : public HidDevice
+{
+    friend class SwitchesDevicePrivate;
+
+public:
+    /**
+     * @if english
+     * @brief Default constructor
+     * @else
+     * @brief 无参构造
+     * @endif
+     */
+    SwitchesDevice();
+
+    /**
+     * @if english
+     * @brief Constructs with a device instance path
+     * @param path device instance path
+     * @else
+     * @brief 从一个设备实例路径构造
+     * @param path 设备实例路径
+     * @endif
+     */
+    explicit SwitchesDevice(const std::string& path);
+
+    ~SwitchesDevice() override;
+
+    SwitchesDevice(const SwitchesDevice&)            = delete;
+    SwitchesDevice& operator=(const SwitchesDevice&) = delete;
+
+    SwitchesDevice(SwitchesDevice&& other) noexcept;
+    SwitchesDevice& operator=(SwitchesDevice&& other) noexcept;
+
+    /**
+     * @if english
+     * @brief Open the device
+     * @return True if the device is successfully opened; false otherwise
+     * @else
+     * @brief 打开设备
+     * @return 设备是否成功打开
+     * @endif
+     */
+    bool open() override;
+
+    /**
+     * @if english
+     * @brief Close the device
+     * @else
+     * @brief 关闭设备
+     * @endif
+     */
+    void close() override;
+
+    /**
+     * @if english
+     * @brief Check if the rotary switch states are ready
+     * @return Returns true if the states are ready; otherwise, returns false
+     * @note This function is non-blocking when reading data
+     * @else
+     * @brief 检查旋转型开关的状态是否准备完毕
+     * @return 如果准备完毕则返回true；否则返回false
+     * @note 该函数在读取数据是非阻塞的
+     * @endif
+     */
+    bool isRotarySwitchStateReady() const;
+
+    /**
+     * @if english
+     * @brief Get the current switches state of the device
+     * @param err Error code
+     * @return A vector of device switches state
+     * @retval Each element in the vector represents the state of a switch.
+     *         The index starts from 0 and corresponds to the switch numbers in MOZA Pit House minus 1.
+     *         Alternatively, refer to the moza::SwitchesIndex enum values.
+     * @note Some switch state data needs to be retrieved from Pit House. Establishing communication between the SDK and Pit House takes time to complete.
+     *       Therefore, the switch states obtained by this function may be inaccurate before the communication is fully established.
+     *       You can check whether the preparation is complete by using the return value of the `isRotarySwitchStateReady` function or the error code `err`.
+     *       This function is non-blocking when reading data
+     * @else
+     * @brief 获取设备当前的开关状态
+     * @param err 错误码
+     * @return 设备的开关状态数组
+     * @retval 数组的每一项都表示一个开关的状态。下标从0开始，对应MOZA Pit House中的开关编号-1，也可以参考moza::SwitchesIndex枚举值
+     * @note 开关状态部分数据需要从PitHouse获取，而SDK与PitHouse的通信建立需要一定的时间才能完成，所以在通信未完成时该函数获取到的开关状态不准确；
+     *       可以通过`isRotarySwitchStateReady`函数返回值或者错误码`err`判断是否准备完毕；
+     *       该函数在读取数据是非阻塞的。
+     * @endif
+     */
+    std::vector<uint8_t> getStateInfo(ERRORCODE& err) const;
+
+    /**
+     * @if english
+     * @brief Get the current switches state of the device (retrieved solely from the HID reports sent by the device) 
+     * @return A vector of device switches state
+     * @retval Each element in the vector represents the state of a switch.
+     *         The index starts from 0 and corresponds to the switch numbers in MOZA Pit House minus 1.
+     *         Alternatively, refer to the moza::SwitchesIndex enum values.
+     * @note It is generally recommended to use the `getStateInfo` function to obtain the current switch state of the device.
+     *       This function retrieves the switch state solely by reading the HID report, which does not include the device's initial state.
+     *       It can be used when the device firmware is not supported or when PitHouse cannot be connected.
+     *       This function is non-blocking when reading data.
+     * @else
+     * @brief 获取设备当前的开关状态（仅通过设备发送的HID报告来获取）
+     * @return 设备的开关状态数组
+     * @retval 数组的每一项都表示一个开关的状态。下标从0开始，对应MOZA Pit House中的开关编号-1，也可以参考moza::SwitchesIndex枚举值
+     * @note 通常情况下建议使用`getStateInfo`函数来获取当前设备的开关状态。该函数仅通过读取HID报告来获取开关状态，这将无法获取到设备的初始状态。可以在设备固件不支持时或无法连接PitHouse时使用该函数。
+     *       该函数在读取数据是非阻塞的。
+     * @endif
+     */
+    std::vector<uint8_t> getStateInfoByHid() const;
+
+private:
+    SwitchesDevicePrivate* m_impl;
+};
+
+}