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>

tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests/FakeTwinCATClient.cs

@@ -19,6 +19,11 @@ internal class FakeTwinCATClient : ITwinCATClient
     public List<(string symbol, TwinCATDataType type, int? bit, object? value)> WriteLog { get; } = new();
     public bool ProbeResult { get; set; } = true;
 
+    public event EventHandler? OnSymbolVersionChanged;
+
+    /// <summary>Test hook — fire the symbol-version-changed signal as the real client would.</summary>
+    public void FireSymbolVersionChanged() => OnSymbolVersionChanged?.Invoke(this, EventArgs.Empty);
+
     public virtual Task ConnectAsync(TwinCATAmsAddress address, TimeSpan timeout, CancellationToken ct)
     {
         ConnectCount++;