Say a plan's refused step once, not on every tick, and call a walk a walk (hq issue 296, ADR 0244)

A refused step was logged on every 30-second tick with the same words; it is said, and kept,
when it is new. The refusal named the retired "release plan".

cmd/mesh-controller/release.go

@@ -246,7 +246,7 @@ func ungatedIn(ctx context.Context, open *stores, names []string, addedHolder st
 		}
 	}
 	if len(refused) > 0 {
-		return nil, fmt.Errorf("%w: %s — a release plan sends them, one machine at a time, each judged (novox/hq ADR "+
+		return nil, fmt.Errorf("%w: %s — a walk sends them, one machine at a time, each judged (novox/hq ADR "+
 			"0236); `upgrade backlog` lists them", errUngated, strings.Join(refused, "; "))
 	}
 	return kept, nil

cmd/mesh-controller/release_plan.go

@@ -514,11 +514,12 @@ func advanceHeld(ctx context.Context, open *stores) {
 			before := planSnapshot(*p)
 			moved, err := advanceOnce(ctx, open, p, edges, rollsOut)
 			if err != nil {
-				fmt.Printf("%s: %v\n", p.ID, err)
 				// Kept in the plan, so `plans` says why it has not moved rather than the log alone;
-				// the state is left as it was and the step is tried again on the next tick.
+				// the state is left as it was and the step is tried again on the next tick. Said and
+				// kept when it is new: the same refusal on every tick is one fact, not one per tick.
 				p.Note = "tier " + fmt.Sprint(p.Tier) + ": " + err.Error() + " — tried again"
 				if planSnapshot(*p) != before {
+					fmt.Printf("%s: %v\n", p.ID, err)
 					if err := inv.SavePlan(ctx, p); err != nil {
 						fmt.Printf("%s: cannot keep the plan: %v\n", p.ID, err)
 					}