feat!: Change the default OPC UA port to 48401

which is the port of the robot control of the voraus core.

src/main.rs

@@ -25,7 +25,7 @@ fn main() -> Result<(), RclrsError> {
     let ros_node_copy_spin = Arc::clone(&ros_node);
     let ros_node_copy_service = Arc::clone(&ros_node);
 
-    let opc_ua_client = Arc::new(Mutex::new(OPCUAClient::new("opc.tcp://127.0.0.1:4855")));
+    let opc_ua_client = Arc::new(Mutex::new(OPCUAClient::new("opc.tcp://127.0.0.1:48401")));
     let Ok(_connection_result) = opc_ua_client.lock().unwrap().connect() else {
         panic!("Connection could not be established, but is required.");
     };

tests/resources/clock.conf

@@ -11,7 +11,7 @@ pki_dir: ./pki
 tcp_config:
   hello_timeout: 5
   host: 127.0.0.1
-  port: 4855
+  port: 48401
 limits:
   clients_can_modify_address_space: false
   max_subscriptions: 100
@@ -35,7 +35,7 @@ user_tokens:
     user: unused
     pass: unused1
 discovery_urls:
-- opc.tcp://127.0.0.1:4855/
+- opc.tcp://127.0.0.1:48401/
 default_endpoint: null
 endpoints:
   none:

tests/test_helper_opc_ua_publisher.rs

@@ -9,7 +9,7 @@ async fn test_simple_server_binds_port() {
     // Start the server in the background
     helpers::opc_ua_publisher_single_linear::run_rapid_clock().await;
 
-    let expected_server_port = 4855;
+    let expected_server_port = 48401;
     let res = wait_for_function_to_pass(|| is_port_bound(expected_server_port), 5000);
 
     match res {

tests/test_simple_opc_ua_subscriber.rs

@@ -13,7 +13,7 @@ async fn test_simple_subscriber_receives_data_changes() {
     // Start the server in the background
     helpers::opc_ua_publisher_single_linear::run_rapid_clock().await;
 
-    let expected_server_port = 4855;
+    let expected_server_port = 48401;
     wait_for_function_to_pass(|| is_port_bound(expected_server_port), 5000)
         .expect("Port was not bound within 5 seconds.");