[mickeyl]

Stacked draft: depends on #447, #448 and #449. Keep draft until the prerequisites land, then rebase to remove their commits from this diff. The benchmark is the single top commit a4b8ea8: mickeyl/esp-nimble-cpp@edc816e...a4b8ea8

Add a standalone ESP-IDF 6.1 benchmark for S3/S31 with ESP and macOS peers. The ESP drives echo, asymmetric request/response, directional streams and duplex independently of its GAP role. A versioned frame parser handles split/coalesced SDUs; streaming uses validated receipts and a final completion fence rather than per-DATA application ACKs.

The serial runner retains complete per-frame evidence, requested versus accepted radio parameters, firmware/config hashes, warmups, reconnect heap samples and failed partial captures. Comparisons keep different link parameters/roles separate. A Foundation-only shared codec and macOS reflector are published separately at mickeyl/core-bluetooth-tool@6124827 . The iPhone peer is not included.

Validation:

• Rebased onto the cleaned-up build: support ESP32-S31 and servers without broadcaster role #447/fix(l2cap): propagate send failures without replaying partial SDUs #448/fix(l2cap): serialize writes and drain channel lifecycle work #449 and current master. As requested on build: support ESP32-S31 and servers without broadcaster role #447/fix(l2cap): propagate send failures without replaying partial SDUs #448, the benchmark CI workflow, the native protocol tests and the runner's unit tests were removed and will return in the separate test-suite PR; locally, 17 native C++ tests and nine Python runner tests still pass against this code.
• The firmware was updated for the reference-only setCallbacks() API on current master.
• Firmware builds for ESP32-S3 and S31 on IDF 6.1 (re-checked after the rebase). The hardware results below were captured before the rebase and API update and have not been repeated yet.
• Hardware Apple-Central/ESP-Peripheral checks pass on both boards for small/4-KiB echo, 8→4096 requests, small duplex and reconnects.
• Bounded 4-KiB echo/request checks pass with the mixed ESP pair in both GAP-role directions.
• The maximum case is deliberately recorded as a failure: a 4996-byte payload plus framing (one 5000-byte SDU) fails with code 6/ENOMEM in the default pool profile. Error-only instrumentation identifies the error code, not the exact limiting pool. This PR does not claim to fix that resource limit.

No experimental HCI window, MPS alignment, native private-header diagnostics, private captures, generated full SDK configs or machine-specific paths are included. The existing GATT examples/workflows remain separate; this PR adds no CI. The measured transfer times are host/application metrics, not physical RF throughput or synchronized one-way delays.

Final clean-image HIL audit: ten successful captures / 42 measured runs, 608 echo/request exchanges and 128 streaming DATA frames across 16 completed connections. The maximum-SDU failures are excluded from those totals.

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