Hi eques,
I personally have not built wolfSSL for Esp-idf but this looks like the include path needs updated. If it is an IDE based off of Eclipse then you should be able to do something like "right click on the project -> Properties -> C/C++ General -> Paths and Symbols" for adding include paths.
With the second issue the unknown type pthread_mutex_t looks like the macro FREERTOS from settings.h may not be getting included. This could be a side effect of the include paths needing to be updated.
For the last error listed, sys/uio.h dependency can be removed by defining the macro NO_WRITEV. This can be defined in wolfssl/wolfcrypt/settings.h or better yet in a user_settings.h file.
Can you tell us some about the project and use case with wolfSSL?
Regards,
Jacob