Synchronize the ESP32 BLE receive queue

[axhoff]

Summary

• replace the ESP32 BLE receive array with a statically allocated FreeRTOS queue
• use non-blocking queue send/receive operations and reset the queue when buffers are cleared
• keep send-queue behavior unchanged

Root cause

The BLE callback task appended to recv_queue while the Arduino loop task read, decremented, shifted, and cleared the same array without synchronization. Closely spaced frames could therefore observe partially published state or race with draining and clearing.

Scope

Only the receive queue is changed. xQueueSend(..., 0) retains the existing drop-newest behavior when all four slots are occupied, xQueueReceive(..., 0) keeps reads non-blocking, and xQueueReset handles clear/reset. Static allocation avoids introducing heap allocation or queue-lifetime management.

Validation

• git diff --check
• pio test -e native — 13/13 tests passed
• pio run -e Xiao_S3_WIO_companion_radio_ble

Fixes #2923

[ripplebiz]

Wow, I did a bit of research and it's news to me that the Arduino BLE classes don't wrap the operations/callbacks into thread-safe accessors. Yoiks! So, in that case, we should just use an RTOS Queue, eg
dataQueue = xQueueCreate(FRAME_QUEUE_SIZE, sizeof(Frame));
...
onWrite() { ... xQueueSend(dataQueue, ...) }
...
in checkRecvFrame() { ... if (xQueueReceive(dataQueue, ... }

[axhoff]

Thanks @ripplebiz — good call on using the RTOS primitive. I replaced the custom queue and critical section with a statically allocated FreeRTOS queue using xQueueSend, xQueueReceive, and xQueueReset in 4d4d7c3. The BLE target and native tests both pass.