fix(swarm): resolve 16 bugs from deep review of ADR-062

CRITICAL:
- Delete stale nvs_provision.bin before provisioning each node
- Fix log filename mismatch: swarm_health.py now finds qemu_node{i}.log
  with node_{i}.log fallback
- CI swarm-test job builds firmware instead of downloading missing artifact
- Accept both qemu_flash.bin and qemu_flash_base.bin as base image

HIGH:
- Replace broad "heap" substring match with precise regex patterns
  (HEAP_ERROR, heap_caps_alloc.*failed, etc.) to avoid false positives
- Guard os.geteuid() with hasattr for Windows compatibility
- Offset SLIRP ports by +100 to avoid collision with aggregator on 5005
- Assertions now WARN (not vacuous PASS) when no parseable data found

MEDIUM:
- Mark network_partitioned_recovery as "(future)" in ADR-062
- Fix node_id prefix dedup bug (node_1 no longer matches node_10)
- Add duplication note in qemu_swarm.py pointing to swarm_health.py
- Document implicit TDM auto-assignment in ADR YAML schema
- swarm_health.py only checks sensor nodes for frame production
- Fix channel 0 treated as falsy

Co-Authored-By: claude-flow <ruv@ruv.net>

.github/workflows/firmware-qemu.yml

@@ -305,7 +305,7 @@ jobs:
   # ---------------------------------------------------------------------------
   swarm-test:
     name: Swarm Test (ADR-062)
-    needs: [build-qemu, qemu-test]
+    needs: [build-qemu]
     runs-on: ubuntu-latest
     container:
       image: espressif/idf:v5.4
@@ -322,22 +322,28 @@ jobs:
       - name: Make QEMU executable
         run: chmod +x ${{ github.workspace }}/qemu-build/bin/qemu-system-xtensa
 
-      - name: Download firmware build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: qemu-logs-default
-          path: ${{ github.workspace }}/firmware-artifacts
-
       - name: Install Python dependencies
         run: pip install pyyaml esptool esp-idf-nvs-partition-gen
 
+      - name: Build firmware for swarm
+        working-directory: firmware/esp32-csi-node
+        run: |
+          . $IDF_PATH/export.sh
+          idf.py set-target esp32s3
+          idf.py -D SDKCONFIG_DEFAULTS="sdkconfig.defaults;sdkconfig.qemu" build
+          python3 -m esptool --chip esp32s3 merge_bin \
+            -o build/qemu_flash.bin \
+            --flash_mode dio --flash_freq 80m --flash_size 8MB \
+            0x0     build/bootloader/bootloader.bin \
+            0x8000  build/partition_table/partition-table.bin \
+            0x20000 build/esp32-csi-node.bin
+
       - name: Run swarm smoke test
         run: |
           python3 scripts/qemu_swarm.py --preset ci_matrix \
             --qemu-path ${{ github.workspace }}/qemu-build/bin/qemu-system-xtensa \
-            --skip-build \
             --output-dir build/swarm-results
-        timeout-minutes: 5
+        timeout-minutes: 10
 
       - name: Upload swarm results
         if: always()