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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>
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