You can park on the South Side of the pier, its worth ringing them first on 01929 427058 and effectivly booking yourself the space. They ask for a small donation, ive found them helpful b4 and given them whaterver the smallest denomination note in my wallet is (yes I am Scottish and carry £1 notes). Ive only stayed overnight so not sure if its the same for during the day.
Last time a bit of swell was coming in from the SE so I berthed her stern into the pier with the anchor holding the bow off. There is no rising pontoon so you are effectivly parking alongside piles/pier.
There are also plenty mooring bouys but I believe they are all proivate, look for 1 that looks quite solid, some hold trawlers.
Also worth considering anchoring N of the moorings.
I dont think there is any sort of taxi running though.
Have a good weekend