feat: QEMU ESP32-S3 testing platform + swarm configurator (ADR-061/062) (#260)

9-layer QEMU testing platform (ADR-061) and YAML-driven swarm
configurator (ADR-062) for ESP32-S3 firmware testing without hardware.

12 commits, 56 files, +9,500 lines. Tested on Windows with
Espressif QEMU 9.0.0 — firmware boots, mock CSI generates frames,
14/16 validation checks pass. 39 bugs found and fixed across
2 deep code reviews.

Closes #259

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

scripts/swarm_presets/ci_matrix.yaml

@@ -0,0 +1,31 @@
+# CI-optimized preset: 3 nodes, star topology, 30s, minimal assertions
+swarm:
+  name: ci-matrix
+  duration_s: 30
+  topology: star
+  aggregator_port: 5005
+
+nodes:
+  - role: coordinator
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 1
+
+  - role: sensor
+    node_id: 1
+    scenario: 1
+    channel: 6
+    tdm_slot: 1
+
+  - role: sensor
+    node_id: 2
+    scenario: 2
+    channel: 6
+    tdm_slot: 2
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - tdm_no_collision
+  - max_boot_time_s: 10

scripts/swarm_presets/heterogeneous.yaml

@@ -0,0 +1,49 @@
+# Mixed scenarios: 5 nodes with different CSI scenarios, star topology, 90s
+swarm:
+  name: heterogeneous
+  duration_s: 90
+  topology: star
+  aggregator_port: 5005
+
+nodes:
+  - role: coordinator
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 2
+    is_gateway: true
+
+  - role: sensor
+    node_id: 1
+    scenario: 1
+    channel: 6
+    tdm_slot: 1
+
+  - role: sensor
+    node_id: 2
+    scenario: 2
+    channel: 6
+    tdm_slot: 2
+
+  - role: sensor
+    node_id: 3
+    scenario: 3
+    channel: 6
+    tdm_slot: 3
+
+  - role: sensor
+    node_id: 4
+    scenario: 5
+    channel: 11
+    tdm_slot: 4
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - tdm_no_collision
+  - all_nodes_produce_frames
+  - coordinator_receives_from_all
+  - fall_detected_by_node_3
+  - no_heap_errors
+  - frame_rate_above: 12
+  - max_boot_time_s: 12

scripts/swarm_presets/large_mesh.yaml

@@ -0,0 +1,54 @@
+# Scale test: 6 fully-connected nodes in mesh topology, 90s
+swarm:
+  name: large-mesh
+  duration_s: 90
+  topology: mesh
+  aggregator_port: 5005
+
+nodes:
+  - role: coordinator
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 2
+    is_gateway: true
+
+  - role: sensor
+    node_id: 1
+    scenario: 1
+    channel: 6
+    tdm_slot: 1
+
+  - role: sensor
+    node_id: 2
+    scenario: 2
+    channel: 6
+    tdm_slot: 2
+
+  - role: sensor
+    node_id: 3
+    scenario: 3
+    channel: 6
+    tdm_slot: 3
+
+  - role: sensor
+    node_id: 4
+    scenario: 4
+    channel: 6
+    tdm_slot: 4
+
+  - role: sensor
+    node_id: 5
+    scenario: 5
+    channel: 6
+    tdm_slot: 5
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - tdm_no_collision
+  - all_nodes_produce_frames
+  - coordinator_receives_from_all
+  - no_heap_errors
+  - frame_rate_above: 10
+  - max_boot_time_s: 15

scripts/swarm_presets/line_relay.yaml

@@ -0,0 +1,39 @@
+# Multi-hop relay chain: 4 nodes in line topology, 60s
+swarm:
+  name: line-relay
+  duration_s: 60
+  topology: line
+  aggregator_port: 5005
+
+nodes:
+  - role: gateway
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 2
+    is_gateway: true
+
+  - role: coordinator
+    node_id: 1
+    scenario: 0
+    channel: 6
+    edge_tier: 1
+
+  - role: sensor
+    node_id: 2
+    scenario: 2
+    channel: 6
+    tdm_slot: 2
+
+  - role: sensor
+    node_id: 3
+    scenario: 1
+    channel: 6
+    tdm_slot: 3
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - tdm_no_collision
+  - all_nodes_produce_frames
+  - max_boot_time_s: 12

scripts/swarm_presets/ring_fault.yaml

@@ -0,0 +1,41 @@
+# Ring topology with fault injection: 4 nodes, 75s
+swarm:
+  name: ring-fault
+  duration_s: 75
+  topology: ring
+  aggregator_port: 5005
+
+nodes:
+  - role: coordinator
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 2
+    is_gateway: true
+
+  - role: sensor
+    node_id: 1
+    scenario: 1
+    channel: 6
+    tdm_slot: 1
+
+  - role: sensor
+    node_id: 2
+    scenario: 2
+    channel: 6
+    tdm_slot: 2
+
+  - role: sensor
+    node_id: 3
+    scenario: 3
+    channel: 6
+    tdm_slot: 3
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - tdm_no_collision
+  - all_nodes_produce_frames
+  - coordinator_receives_from_all
+  - no_heap_errors
+  - max_boot_time_s: 12

scripts/swarm_presets/smoke.yaml

@@ -0,0 +1,24 @@
+# Quick CI smoke test: 2 nodes, star topology, 15s duration
+swarm:
+  name: smoke
+  duration_s: 15
+  topology: star
+  aggregator_port: 5005
+
+nodes:
+  - role: coordinator
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 1
+
+  - role: sensor
+    node_id: 1
+    scenario: 1
+    channel: 6
+    tdm_slot: 1
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - max_boot_time_s: 10

scripts/swarm_presets/standard.yaml

@@ -0,0 +1,36 @@
+# Standard 3-node test: 2 sensors + 1 coordinator, star topology, 60s
+swarm:
+  name: standard
+  duration_s: 60
+  topology: star
+  aggregator_port: 5005
+
+nodes:
+  - role: coordinator
+    node_id: 0
+    scenario: 0
+    channel: 6
+    edge_tier: 2
+    is_gateway: true
+
+  - role: sensor
+    node_id: 1
+    scenario: 2
+    channel: 6
+    tdm_slot: 1
+
+  - role: sensor
+    node_id: 2
+    scenario: 3
+    channel: 6
+    tdm_slot: 2
+
+assertions:
+  - all_nodes_boot
+  - no_crashes
+  - tdm_no_collision
+  - all_nodes_produce_frames
+  - coordinator_receives_from_all
+  - fall_detected_by_node_2
+  - frame_rate_above: 15
+  - max_boot_time_s: 10