motion-master-client 0.0.11 → 0.0.13

package/package.json

@@ -1,21 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.11",
+  "version": "0.0.13",
   "type": "commonjs",
-  "description": "A library and CLI program used for communicating with Motion Master.",
-  "dependencies": {
-    "fast-deep-equal": "^3.1.3",
-    "lodash": "^4.17.21",
-    "long": "5.2.1",
-    "protobufjs": "^7.2.3",
-    "roarr": "^7.14.1",
-    "rxjs": "~7.5.0",
-    "uuid": "^9.0.0",
-    "ws": "^8.12.1"
-  },
-  "peerDependencies": {
-    "tslib": "^2.4.0"
-  },
-  "main": "./src/index.js",
-  "types": "./src/index.d.ts"
+  "description": "A library and CLI program used for communicating with Motion Master."
 }

package/project.json

@@ -0,0 +1,41 @@
+{
+  "name": "motion-master-client",
+  "$schema": "../../node_modules/nx/schemas/project-schema.json",
+  "sourceRoot": "libs/motion-master-client/src",
+  "projectType": "library",
+  "targets": {
+    "build": {
+      "executor": "@nrwl/js:tsc",
+      "outputs": ["{options.outputPath}"],
+      "options": {
+        "outputPath": "dist/libs/motion-master-client",
+        "main": "libs/motion-master-client/src/index.ts",
+        "tsConfig": "libs/motion-master-client/tsconfig.lib.json",
+        "assets": ["libs/motion-master-client/*.md", "libs/motion-master-client/src/lib/motion-master.proto.js", "libs/motion-master-client/src/lib/motion-master.proto.d.ts"]
+      }
+    },
+    "publish": {
+      "executor": "nx:run-commands",
+      "options": {
+        "command": "node tools/scripts/publish.mjs motion-master-client {args.ver} {args.tag}"
+      },
+      "dependsOn": ["build"]
+    },
+    "lint": {
+      "executor": "@nrwl/linter:eslint",
+      "outputs": ["{options.outputFile}"],
+      "options": {
+        "lintFilePatterns": ["libs/motion-master-client/**/*.ts"]
+      }
+    },
+    "test": {
+      "executor": "@nrwl/jest:jest",
+      "outputs": ["{workspaceRoot}/coverage/libs/motion-master-client"],
+      "options": {
+        "jestConfig": "libs/motion-master-client/jest.config.ts",
+        "passWithNoTests": true
+      }
+    }
+  },
+  "tags": []
+}

package/src/lib/cia402.ts

@@ -0,0 +1,112 @@
+export enum CiA402State {
+  NOT_READY_TO_SWITCH_ON,
+  SWITCH_ON_DISABLED,
+  READY_TO_SWITCH_ON,
+  SWITCHED_ON,
+  OPERATION_ENABLED,
+  QUICK_STOP_ACTIVE,
+  FAULT_REACTION_ACTIVE,
+  FAULT,
+}
+
+export const cia402StateLabels = [
+  'NOT READY TO SWITCH ON',
+  'SWITCH ON DISABLED',
+  'READY TO SWITCH ON',
+  'SWITCHED ON',
+  'OPERATION ENABLED',
+  'QUICK STOP ACTIVE',
+  'FAULT REACTION ACTIVE',
+  'FAULT',
+];
+
+export const statuswordToCia402StateMap = new Map([
+  [0b00000000, CiA402State.NOT_READY_TO_SWITCH_ON],
+  [0b01000000, CiA402State.SWITCH_ON_DISABLED],
+  [0b00100001, CiA402State.READY_TO_SWITCH_ON],
+  [0b00100011, CiA402State.SWITCHED_ON],
+  [0b00100111, CiA402State.OPERATION_ENABLED],
+  [0b00000111, CiA402State.QUICK_STOP_ACTIVE],
+  [0b00001111, CiA402State.FAULT_REACTION_ACTIVE],
+  [0b00001000, CiA402State.FAULT],
+]);
+
+export function getCia402StateFromStatusword(statusword: number) {
+  return statuswordToCia402StateMap.get(statusword & 0b01101111)
+    || statuswordToCia402StateMap.get(statusword & 0b01001111);
+}
+
+export function isInternalLimitActive(statusword: number) {
+  return (0x800 & statusword) === 0x800;
+}
+
+export enum ModesOfOperation {
+  OPEN_LOOP_FIELD_MODE = -3,
+  DIAGNOSTICS_MODE = -2,
+  COGGING_COMPENSATION_RECORDING_MODE = -1,
+  NO_MODE_ASSIGNED = 0,
+  PROFILE_POSITION_MODE = 1,
+  PROFILE_VELOCITY_MODE = 3,
+  TORQUE_PROFILE_MODE = 4,
+  HOMING_MODE = 6,
+  CYCLIC_SYNC_POSITION_MODE = 8,
+  CYCLIC_SYNC_VELOCITY_MODE = 9,
+  CYCLIC_SYNC_TORQUE_MODE = 10,
+}
+
+export const controlwordBits = [
+  'so = switch on',
+  'ev = enable voltage',
+  'qs = quick stop',
+  'eo = enable operation',
+  'oms = operation mode specific',
+  'oms = operation mode specific',
+  'oms = operation mode specific',
+  'fr = fault reset',
+  'h = halt',
+  'oms = operation mode specific',
+  'r = reserved',
+  'ms = manufacturer-specific',
+  'ms = manufacturer-specific',
+  'ms = manufacturer-specific',
+  'ms = manufacturer-specific',
+  'ms = manufacturer-specific',
+];
+
+export const statuswordBits = [
+  'rtso = ready to switch on',
+  'so = switched on',
+  'oe = operation enabled',
+  'f = fault',
+  've = voltage enabled',
+  'qs = quick stop',
+  'sod = switch on disabled',
+  'w = warning',
+  'ms = manufacturer-specific',
+  'rm = remote',
+  'tr = target reached',
+  'ila = internal limit active',
+  'oms = operation-mode-specific',
+  'oms = operation-mode-specific',
+  'ms = manufacturer-specific',
+  'ms = manufacturer-specific',
+];
+
+export const supportedDriveModesBits = [
+  'pp = profile position mode',
+  'vl = velocity mode',
+  'pv = profile velocity mode',
+  'tq = torque mode',
+  'r = reserved',
+  'hm = homing mode',
+  'ip = interpolated position mode',
+  'csp = cyclic synchronous position mode',
+  'csv = cyclic synchronous velocity mode',
+  'cst = cyclic synchronous torque mode',
+  'r = reserved',
+  'r = reserved',
+  'r = reserved',
+  'r = reserved',
+  'r = reserved',
+  'r = reserved',
+];

package/src/lib/device-log-line.ts

@@ -0,0 +1,5 @@
+export interface DeviceLogLine {
+  time: string;
+  level: string;
+  message: string;
+}

package/src/lib/device-parameter.spec.ts

@@ -0,0 +1,85 @@
+import { makeDeviceParameterId, splitDeviceParameterId } from "./device-parameter";
+
+describe('deviceParameter', () => {
+
+  describe('makeDeviceParameterId', () => {
+
+    const serialNumber = '8502-03-0001353-2115';
+
+    test.each<[string, [(number | null | undefined), (number | null | undefined)], string]>([
+      [serialNumber, [0x1234, 123], '0x1234:7B.8502-03-0001353-2115'],
+      [serialNumber, [23, 23], '0x0017:17.8502-03-0001353-2115'],
+      [serialNumber, [0, 0], '0x0000:00.8502-03-0001353-2115'],
+      [serialNumber, [0x2000, undefined], '0x2000:00.8502-03-0001353-2115'],
+      [serialNumber, [0x2003, null], '0x2003:00.8502-03-0001353-2115'],
+      [serialNumber, [0x10000, 3], '0x00010000:03.8502-03-0001353-2115'],
+      [serialNumber, [0x100F0, undefined], '0x000100F0:00.8502-03-0001353-2115'],
+    ])('should for device serial number "%s" and tuple %j return "%s"', (serialNumber, tuple, expected) => {
+      const result = makeDeviceParameterId(serialNumber, tuple);
+
+      expect(result).toBe(expected);
+    });
+
+    test.each([
+      [serialNumber, {}, '0x0000:00.8502-03-0001353-2115'],
+      [serialNumber, { index: 0x2004, subindex: 4 }, '0x2004:04.8502-03-0001353-2115'],
+      [serialNumber, { index: 0x1024 }, '0x1024:00.8502-03-0001353-2115'],
+    ])('should for device serial number "%s" and parameter %j return "%s"', (serialNumber, parameter, expected) => {
+      const result = makeDeviceParameterId(serialNumber, parameter);
+
+      expect(result).toBe(expected);
+    });
+
+    test.each([
+      [serialNumber, 0x1234, 123, '0x1234:7B.8502-03-0001353-2115'],
+      [serialNumber, 23, 23, '0x0017:17.8502-03-0001353-2115'],
+      [serialNumber, 0, 0, '0x0000:00.8502-03-0001353-2115'],
+      [serialNumber, 0x2000, undefined, '0x2000:00.8502-03-0001353-2115'],
+      [serialNumber, 0x2003, null, '0x2003:00.8502-03-0001353-2115'],
+      [serialNumber, 0x10000, 3, '0x00010000:03.8502-03-0001353-2115'],
+      [serialNumber, 0x100F0, undefined, '0x000100F0:00.8502-03-0001353-2115'],
+    ])('should for device serial number "%s" and index %d and subindex %d return "%s"', (serialNumber, index, subindex, expected) => {
+      const result = makeDeviceParameterId(serialNumber, index, subindex);
+
+      expect(result).toBe(expected);
+    });
+
+    it('should throw if index is less than 0', () => {
+      expect(() => {
+        makeDeviceParameterId(serialNumber, -123, 0);
+      }).toThrow();
+    });
+
+    it('should throw if subindex is less than 0', () => {
+      expect(() => {
+        makeDeviceParameterId(serialNumber, 0x1024, -3);
+      }).toThrow();
+    });
+
+  });
+
+  describe('splitDeviceParameterId', () => {
+
+    test.each([
+      ['0x1234:7B.8502-03-0001353-2115', ['8502-03-0001353-2115', 4660, 123]],
+      ['0x000100F0:00.8502-03-0001353-2115', ['8502-03-0001353-2115', 65776, 0]],
+    ])('should for id "%s" return tuple %j', (id, expected) => {
+      const result = splitDeviceParameterId(id);
+
+      expect(result).toEqual(expected);
+    });
+
+    test.each([
+      ['0x12:7B.8502-03-0001353-2115'],
+      ['0x1234:F.8502-03-0001353-2115'],
+      ['0x1234:FG.8502-03-0001353-2115'],
+      ['0x1234:7B.8502-03-ABC1353-2115'],
+      ['0x1234:7B.8502_03_0001353_2115'],
+      ['0x1H34:7B.8502-03-0001353-2115'],
+    ])('should throw error for id "%s"', (id) => {
+      expect(() => splitDeviceParameterId(id)).toThrow();
+    });
+
+  });
+
+});

package/src/lib/device-parameter.ts

@@ -0,0 +1,79 @@
+import { makeParameterId, Parameter } from "./parameter";
+
+export interface DeviceParameter extends Parameter {
+  id: string;
+  flags?: {
+    access?: 'ro' | 'rw' | 'wo'; // readonly (default), readwrite, writeonly
+    category?: 'm' | 'o' | 'c'; // mandatory, optional (default), conditional
+    pdoMapping?: 't' | 'r' | 'tr'; // Transmit PDO (Inputs), Receive PDO (Outputs), Transmit or Receive PDO
+    safetyMapping?: 'si' | 'so' | 'sio' | 'sp'; // Safe Inputs, Safe Outputs, Safe Input or Output, Safety Parameter Set
+  };
+}
+
+/**
+ * Make device parameter id by providing a device serial number and tuple of index and subindex.
+ *
+ * @param serialNumber - device serial number from the hardware description file
+ * @param tuple - an array of index and subindex
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeDeviceParameterId(serialNumber: string, tuple: [(number | null | undefined), (number | null | undefined)]): string;
+
+/**
+ * Make device parameter id by providing a device serial number and object which has index and subindex properties.
+ *
+ * @param serialNumber - device serial number from the hardware description file
+ * @param parameter - an object with optional index and subindex properties
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeDeviceParameterId(serialNumber: string, parameter: { index?: (number | null), subindex?: (number | null) }): string;
+
+/**
+ * Make parameter id by providing a device serial number and index and subindex.
+ *
+ * @param serialNumber - device serial number from the hardware description file
+ * @param index - from 0x0000 to 0xFFFF for objects defined in ESI and >0xFFFF for custom object
+ * @param subindex - defaults to 0 if not provided
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export function makeDeviceParameterId(serialNumber: string, index?: (number | null), subindex?: (number | null)): string;
+
+export function makeDeviceParameterId(serialNumber: string, a?: (number | null) | { index?: (number | null), subindex?: (number | null) } | [(number | null | undefined), (number | null | undefined)], b?: (number | null)): string {
+  const parameterId = makeParameterId(a, b);
+  return `${parameterId}.${serialNumber}`;
+}
+
+/**
+ * Example of device parameter id is "0x2110:1A.8502-03-0001353-2115" where:
+ * - 0x2110 is object index in hexadecimal format
+ * - 1A is subindex in hexadecimal format
+ * - 8502-03-0001353-2115 is device serial number from hardware description file
+ */
+export const deviceParameterIdRegExp = /^0x([0-9a-fA-F]{4,}):([0-9a-fA-F]{2})\.([\d-]+)$/;
+
+/**
+ * Split device parameter id into parts.
+ *
+ * @param id - device parameter id like "0x2110:1A.8502-03-0001353-2115"
+ * @returns tuple of device serial number, index, and subindex
+ */
+export function splitDeviceParameterId(id: string): [string, number, number] {
+  const match = id.match(deviceParameterIdRegExp);
+
+  if (!match) {
+    throw new Error(`Device parameter id "${id}" doesn't match the regular expression: ${deviceParameterIdRegExp}`);
+  }
+
+  return [
+    match[3], // device serial number
+    parseInt(match[1], 16), // index
+    parseInt(match[2], 16), // subindex
+  ];
+}
+
+export function isDeviceParameterId(id: string): boolean {
+  return deviceParameterIdRegExp.test(id);
+}

package/src/lib/device.ts

@@ -0,0 +1,10 @@
+import { HardwareDescription } from "./hardware-description";
+
+export interface Device {
+  id: string;
+  deviceAddress: number;
+  type?: number,
+  position?: number;
+  alias?: number;
+  hardwareDescription?: HardwareDescription;
+}

package/src/lib/examples/get-firmware-version-for-all-devices.ts

@@ -0,0 +1,18 @@
+Object.assign(global, { WebSocket: require('ws') });
+
+import { forkJoin, mergeMap, lastValueFrom } from "rxjs";
+import { createMotionMasterClient } from "../motion-master-client";
+
+const client = createMotionMasterClient('192.168.1.112');
+
+(async () => {
+  const devices = await lastValueFrom(client.request.getDevices());
+  const versions = await Promise.all(devices.map((device) => client.request.upload<string>(device.deviceAddress, 0x100A, 0)));
+  console.log(versions);
+})();
+
+client.request.getDevices().pipe(
+  mergeMap((devices) => forkJoin(devices.map((device) => client.request.getParameterValue<string>(device.deviceAddress, 0x100A, 0)))),
+).subscribe(console.log);
+
+setTimeout(() => client.closeSockets(), 5000);

package/src/lib/hardware-description.spec.ts

@@ -0,0 +1,253 @@
+import {
+  getAllComponentsFromHardwareDescription,
+  getApiIdentifierFromHardwareDescription,
+  getNameFromHardwareDescription,
+  getSerialNumberFromHardwareDescription,
+  hardwareComponentsMatch,
+  HardwareDescription,
+} from './hardware-description';
+
+describe('getApiIdentifierFromHardwareDescription', () => {
+  it('should return api identifier from assembly', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      assembly: { id: 'foo', version: '01', serialNumber: 'foo-sn' }, // prefer assembly over device
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('foo-01');
+  });
+
+  it('should return api identifier from device', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('bar-02');
+  });
+
+  it('should return api identifier from device having keyId', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', keyId: '1234' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('bar-02-1234');
+  });
+
+  it('should return api identifier from device when having both assembly and keyId', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      assembly: { id: 'asm', version: '09', serialNumber: 'asm-sn', name: 'Assembly' },
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', keyId: '3388' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('asm-09-3388');
+  });
+
+  it('should skip keyId in cases when product image needs to be fetched by api identifier without keyId', () => {
+    const result = getApiIdentifierFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', keyId: '1234' },
+      fileVersion: '',
+    } as HardwareDescription, true);
+
+    expect(result).toBe('bar-02');
+  });
+});
+
+describe('getNameFromHardwareDescription', () => {
+  it('should return name from assembly', () => {
+    const result = getNameFromHardwareDescription({
+      assembly: { id: 'foo', version: '01', serialNumber: 'foo-sn', name: 'Assembly' }, // prefer assembly over device
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', name: 'Device' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('Assembly');
+  });
+
+  it('should return name from device', () => {
+    const result = getNameFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn', name: 'Device' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('Device');
+  });
+});
+
+describe('getSerialNumberFromHardwareDescription', () => {
+  it('should return serial number from assembly', () => {
+    const result = getSerialNumberFromHardwareDescription({
+      assembly: { id: 'foo', version: '01', serialNumber: 'foo-sn' }, // prefer assembly over device
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('foo-sn');
+  });
+
+  it('should return serial number from device', () => {
+    const result = getSerialNumberFromHardwareDescription({
+      device: { id: 'bar', version: '02', serialNumber: 'bar-sn' },
+      fileVersion: '',
+    } as HardwareDescription);
+
+    expect(result).toBe('bar-sn');
+  });
+});
+
+describe('getAllComponentsFromHardwareDescription', () => {
+  it('should return components only from device when assembly is undefined', () => {
+    const deviceComponents = [
+      {
+        name: 'Com EtherCAT',
+        serialNumber: '3333-33-3333333-3333',
+        version: 'B.2',
+      },
+      {
+        name: 'Core C2X',
+        serialNumber: '1111-11-1111111-1111',
+        version: 'A.5',
+      },
+      {
+        name: 'Drive 400',
+        serialNumber: '2222-22-2222222-2222',
+        version: 'E.1',
+      },
+    ];
+
+    const hardwareDescription: HardwareDescription = {
+      device: {
+        components: deviceComponents,
+        id: '8503',
+        macAddress: '01-23-45-67-89-AB',
+        name: 'Circulo 9 1800 Encoder Pos 1 & 2',
+        serialNumber: '8506-01-040595-4023',
+        version: '02',
+        keyId: '1234',
+      },
+      fileVersion: '1.0.0',
+    };
+
+    const result = getAllComponentsFromHardwareDescription(hardwareDescription);
+
+    expect(result).toEqual(deviceComponents);
+  });
+
+  it('should return combined components from assembly and device', () => {
+    const assemblyComponents = [
+      {
+        name: 'Heidrive HMP04',
+        serialNumber: '79137447',
+        version: 'REV-2',
+      },
+      {
+        name: 'KEB gearbox',
+        serialNumber: '12344234',
+        version: 'REV-3',
+      },
+    ];
+
+    const deviceComponents = [
+      {
+        name: 'Com EtherCAT',
+        serialNumber: '3333-33-3333333-3333',
+        version: 'B.2',
+      },
+      {
+        name: 'Core C2X',
+        serialNumber: '1111-11-1111111-1111',
+        version: 'A.5',
+      },
+      {
+        name: 'Drive 400',
+        serialNumber: '2222-22-2222222-2222',
+        version: 'E.1',
+      },
+    ];
+
+    const hardwareDescription: HardwareDescription = {
+      assembly: {
+        components: assemblyComponents,
+        id: 'ASM',
+        name: 'Assembly',
+        serialNumber: '12345',
+        version: '01',
+      },
+      device: {
+        components: deviceComponents,
+        id: '8503',
+        macAddress: '01-23-45-67-89-AB',
+        name: 'Circulo 9 1800 Encoder Pos 1 & 2',
+        serialNumber: '8506-01-040595-4023',
+        version: '02',
+        keyId: '1234',
+      },
+      fileVersion: '1.0.0',
+    };
+
+    const result = getAllComponentsFromHardwareDescription(hardwareDescription);
+
+    expect(result).toEqual([...assemblyComponents, ...deviceComponents]);
+  });
+});
+
+describe('hardwareComponentsMatch', () => {
+  it('should return false when both arrays are empty', () => {
+    expect(hardwareComponentsMatch([], [])).toBe(false);
+  });
+
+  it('should return false when components don\'t match', () => {
+    const components1 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'A.2' },
+      { name: 'Core C22', serialNumber: '1111-11-1111111-1111', version: 'A.1' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(false);
+  });
+
+  it('should return true when components match', () => {
+    const components1 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(true);
+  });
+
+  it('should return true when components match but are not ordered the same', () => {
+    const components1 = [
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(true);
+  });
+
+  it('should return true when revision numbers don\'t match', () => {
+    const components1 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.2' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.5' },
+    ];
+    const components2 = [
+      { name: 'Com EtherCAT', serialNumber: '3333-33-3333333-3333', version: 'B.7' },
+      { name: 'Core C2X', serialNumber: '1111-11-1111111-1111', version: 'A.2' },
+    ];
+
+    expect(hardwareComponentsMatch(components1, components2)).toBe(true);
+  });
+});