fix(driver-twincat): resolve High code-review findings (Driver.TwinCAT-001, -002, -007, -008, -013)

Driver.TwinCAT-001 — InitializeAsync/ReinitializeAsync ignored driverConfigJson.
Extracted the DTO-to-options parse into a shared TwinCATDriverFactoryExtensions.ParseOptions;
InitializeAsync now re-parses driverConfigJson into a mutable _options field, so a config
generation pushed via ReinitializeAsync (added/removed devices, tags, probe settings) is
actually applied at runtime.

Driver.TwinCAT-002 — LInt/ULInt narrowed to Int32. ToDriverDataType now maps LInt to Int64,
ULInt to UInt64, UDInt to UInt32, UInt/USInt to UInt16, Int/SInt to Int16, and the IEC
TIME/DATE/DT/TOD types to UInt32 (their raw UDINT counter). Removed the stale "Int64 gap"
comment — no truncation or sign flips at the OPC UA encode layer.

Driver.TwinCAT-007 — EnsureConnectedAsync was not thread-safe. Connect/reconnect is now
serialized per device by a SemaphoreSlim (DeviceState.ConnectGate) with a double-checked
connect, mirroring the S7 driver. Concurrent read/write/probe callers can no longer leak a
client or race a create-vs-dispose.

Driver.TwinCAT-008 — native ADS notification callbacks ran driver logic on the AMS router
thread. AdsTwinCATClient now enqueues AdsNotificationEx callbacks onto a bounded Channel
drained by a dedicated managed task; the router-thread callback only does a non-blocking
TryWrite, so a slow consumer cannot stall ADS notification delivery process-wide.

Driver.TwinCAT-013 — TwinCATDriver did not implement IRediscoverable. The driver now
implements IRediscoverable; AdsTwinCATClient detects ADS 0x0702 (symbol-version-changed) on
read/write paths and raises OnSymbolVersionChanged, which the driver forwards as
OnRediscoveryNeeded so Core rebuilds the address space after a PLC program re-download.

Adds TwinCATHighFindingsRegressionTests covering all five fixes; updates the data-type
mapping assertion in TwinCATDriverTests. TwinCAT driver builds clean; 119 tests pass.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATStatusMapper.cs

@@ -9,6 +9,19 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
 public static class TwinCATStatusMapper
 {
     public const uint Good = 0u;
+
+    /// <summary>
+    ///     ADS <c>ADSERR_DEVICE_SYMBOLVERSIONINVALID</c> — error <c>0x0702</c> (1794 decimal).
+    ///     Raised by the runtime after a PLC program re-download: every symbol handle and
+    ///     notification handle the driver holds is now stale. The driver treats this as an
+    ///     <see cref="Core.Abstractions.IRediscoverable"/> trigger, not a connection error
+    ///     (docs/v2/driver-specs.md §6, Driver.TwinCAT-013).
+    /// </summary>
+    public const uint AdsSymbolVersionChanged = 0x0702u;
+
+    /// <summary>True when <paramref name="adsError"/> is the symbol-version-changed code.</summary>
+    public static bool IsSymbolVersionChanged(uint adsError) => adsError == AdsSymbolVersionChanged;
+
     public const uint BadInternalError = 0x80020000u;
     public const uint BadNodeIdUnknown = 0x80340000u;
     public const uint BadNotWritable = 0x803B0000u;