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feat(bb_event_routes): heap-backed lazy SSE pool by default, static-BSS behind CONFIG_BB_EVENT_ROUTES_POOL_STATIC (B1-492) (#662)

- rename CONFIG_BB_EVENT_ROUTES_STATIC_POOL to CONFIG_BB_EVENT_ROUTES_POOL_STATIC
  and flip the default: n now means lazy heap-backed, y keeps the permanent
  static-BSS arena (unchanged PR E behavior)
- both the payload/entries pool (bb_event_routes_common.c) and the ESP-IDF
  task-stack pool (bb_event_routes_espidf.c) allocate their arena on the
  FIRST SSE client connect instead of at boot, so headless boards never
  standing-allocate the ~13.5 KB SSE pool
- a failed lazy-heap allocation fails soft (BB_ERR_NO_SPACE, same as pool
  exhaustion) — retried on the next connect, never a crash or unchecked NULL
- idle-reclaim intentionally NOT implemented: the pool holds a live FreeRTOS
  task stack per client, and freeing a stack out from under a task that has
  not finished exiting is a use-after-free (B1-484 / PR-E-CRITICAL class);
  the heap allocation is kept for the process lifetime once created instead
- removes the old per-connect calloc/free dynamic path entirely — both
  backings now go through the same index-addressed pool, eliminating
  fragmentation-prone per-connect allocation in both modes
- harden both sse_pool_ensure() first-alloc critical sections with a
  dedicated pthread mutex each (s_sse_pool_mtx / s_sse_task_pool_mtx),
  closing the check-then-allocate-then-publish TOCTOU window on this
  component's global pool state; each is a leaf lock never held while
  calling into any other bb_event_routes lock
- fix Kconfig help text referencing the removed
  CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION symbol (static allocation is
  always available on ESP-IDF >= 4.3)

Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>

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