Ok you need to ask for a fact finding hearing re: the allegations of domestic abuse.
rightsofwomen.org.uk/get-information/family-law/a-guide-to-fact-finding-hearings/
Make sure you have collected all your evidence and provided it to your solicitor and CAFCASS officer.
Without a FF allegations of DA won't be taken into account re: contact arrangements.
I'd also say a period of 6 months without contact won't necessarily be considered as an unduly long period of time, especially for your elder children.
My suggestion is that you speak to your CAFCASS officer and ask to be put on an ICFA (improving child and family arrangements program).
They are run by approved organisations with trained staff who work with both parents and children to reduce conflict and assist in developing a forward contact plan that is in the children's best interests.
The concept is that by the end of the programme forward plans will be agreed and presented to court.
Most ICFA (but not all) providers are child contact centres and start with supervised contact and build from there.
This link should direct you to the local directory of ICFA providers in your area.
ICFA doesn't always work, but it does in a lot of cases and is far less stressful than battling through court.