feat(mgc): rendezvous planner — same-time landing across all modes

Routes every dispatch through a tick-aware planner so all pumps reach
their setpoint at the same wall-clock instant t* = max(eta_i),
regardless of control strategy or per-pump reaction speed.

Architecture (src/movement/):
- machineProfile.js   – pure snapshot of a registered child (state,
                        position, velocityPctPerS, ladder timings,
                        flowAt / positionForFlow). Reads timings from
                        child.state.config.time (the actual storage
                        location — previous fallback paths silently
                        produced 0 s, collapsing every eta to ramp-only).
- moveTrajectory.js   – seconds-to-target per machine; handles
                        idle / starting / warmingup / operational / cooling.
- movementScheduler.js – t* = max eta over ALL non-noop moves. Every
                        command is delayed so its move finishes at t*.
                        Startup execsequence fires at 0; its flowmovement
                        is gated by max(ladderS, t* − rampS) so a fast
                        pump waits before ramping rather than landing
                        early. useRendezvous=false collapses to all
                        fireAtTickN=0 (legacy fire-and-forget).
- movementExecutor.js – wall-clock virtual cursor: each tick fires
                        every command whose fireAtTickN ≤ floor(elapsed/tickS).
                        tick() no longer awaits pending fireCommand
                        promises — the synchronous prologue of
                        handleInput claims the latest-wins gate, which
                        is what race-favouring relies on.

Shared dispatch path (src/specificClass.js):
- _dispatchFlowDistribution(distribution) — extracted from
  _optimalControl. Builds profiles, calls movementScheduler.plan,
  replans the executor, ticks once. Reads
  config.planner.useRendezvous (default true).
- _optimalControl computes its bestCombination and hands off.
- equalFlowControl (priorityControl mode) computes its
  flowDistribution and hands off via ctx.mgc._dispatchFlowDistribution.
  Same-time landing now applies in BOTH modes.

Editor toggle (mgc.html + src/nodeClass.js):
- New "Same-time landing" checkbox under Control Strategy.
- nodeClass.buildDomainConfig bridges uiConfig.useRendezvous →
  config.planner.useRendezvous. Default ON.

Tests:
- New: planner-convergence.integration.test.js (real-time end-to-end
  diagnostic — drives a 3-pump mixed-state dispatch and asserts both
  convergence to the demand setpoint AND same-time landing within
  one tick).
- New: planner-rendezvous.integration.test.js (schedule-shape
  assertions against real pump objects).
- New: movementScheduler.basic.test.js — includes a mixed-speed
  multi-startup case proving the fast pumps wait so all three land
  together (the regression that prompted this work).
- New: movementExecutor.basic.test.js + moveTrajectory.basic.test.js.
- Updated executor contract test: tick() must NOT await pending fires.

Commands + wiki:
- handlers.js: source/mode allow-list gate moved into a shared _gate()
  helper; every command now checks isValidActionForMode +
  isValidSourceForMode before dispatching. Status-level commands
  (set.mode, set.scaling) are allowed in every mode.
- commands.basic.test.js: coverage for the new gate behaviour.
- wiki regen: Home.md visual-first rewrite + Reference-{Architecture,
  Contracts,Examples,Limitations}.md split with _Sidebar.md index.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

mgc.html

@@ -8,8 +8,32 @@
 | **Control Module**     | `#a9daee`           | zwart      |
 
 -->
-<script src="/machineGroupControl/menu.js"></script> <!-- Load the menu script for dynamic dropdowns --> 
-<script src="/machineGroupControl/configData.js"></script> <!-- Load the config script for node information --> 
+<script src="/machineGroupControl/menu.js"></script> <!-- Load the menu script for dynamic dropdowns -->
+<script src="/machineGroupControl/configData.js"></script> <!-- Load the config script for node information -->
+
+<!-- Editor JS modules — see nodes/machineGroupControl/src/editor/. Loaded in
+     dependency order: index.js (namespace + helpers) → modules → oneditprepare. -->
+<script src="/machineGroupControl/editor/index.js"></script>
+<script src="/machineGroupControl/editor/mode-cards.js"></script>
+<script src="/machineGroupControl/editor/oneditprepare.js"></script>
+
+<style>
+  /* Mode-card picker. Three cards stack horizontally; on a narrow editor pane
+     they wrap. Selected card gets a thick #50a8d9 (Unit-colour) border. */
+  .mgc-mode-cards { display:flex; gap:8px; flex-wrap:wrap; margin:6px 0 4px 0; }
+  .mgc-mode-card {
+    flex:1 1 0; min-width:140px; box-sizing:border-box;
+    border:2px solid #d0d0d0; border-radius:4px; background:#fafafa;
+    padding:6px 8px 8px 8px; cursor:pointer; user-select:none;
+    display:flex; flex-direction:column; gap:4px;
+    transition:border-color 80ms ease-out, background 80ms ease-out;
+  }
+  .mgc-mode-card:hover { border-color:#86bbdd; background:#f5fafd; }
+  .mgc-mode-card-on   { border-color:#50a8d9; background:#eaf4fb; }
+  .mgc-mode-card-svg svg { width:100%; height:auto; max-height:90px; display:block; }
+  .mgc-mode-card-label   { font-weight:600; font-size:12px; color:#333; }
+  .mgc-mode-card-caption { font-size:10px; color:#666; line-height:1.3; }
+</style>
 
 <script>
     RED.nodes.registerType('machineGroupControl',{
@@ -24,6 +48,12 @@
       // Control strategy
       mode:    { value: "optimalControl" }, // optimalControl | priorityControl | maintenance
 
+      // Same-time landing (rendezvous planner). When ON the planner
+      // delays each pump's move so all pumps reach their setpoint at
+      // the same wall-clock instant t* = max(eta_i). When OFF each
+      // pump moves at its own pace and lands at its own eta.
+      useRendezvous: { value: true },
+
       //define asset properties
       uuid: { value: "" },
       supplier: { value: "" },
@@ -55,10 +85,17 @@
             return (this.positionIcon || "") + " machineGroup";
         },
         oneditprepare: function() {
-            // Initialize the menu data for the node
+            const self = this;
+            // Initialize the menu data for the node, then the visual modules.
+            // Both attach to window.EVOLV.nodes.machineGroupControl.* — the
+            // menu endpoint populates loggerMenu/positionMenu/initEditor; the
+            // editor scripts populate editor.modeCards/demandContract.
             const waitForMenuData = () => {
                 if (window.EVOLV?.nodes?.machineGroupControl?.initEditor) {
-                    window.EVOLV.nodes.machineGroupControl.initEditor(this);
+                    window.EVOLV.nodes.machineGroupControl.initEditor(self);
+                    if (window.EVOLV.nodes.machineGroupControl.editor?.initVisuals) {
+                        window.EVOLV.nodes.machineGroupControl.editor.initVisuals(self);
+                    }
                 } else {
                     setTimeout(waitForMenuData, 50);
                 }
@@ -88,14 +125,15 @@
 <script type="text/html" data-template-name="machineGroupControl">
 
   <h3>Control strategy</h3>
-  <div class="form-row">
-    <label for="node-input-mode"><i class="fa fa-cogs"></i> Mode</label>
-    <select id="node-input-mode" style="width:60%;">
-      <option value="optimalControl">optimalControl &mdash; pick the best valid pump combination by BEP-gravitation / NCog</option>
-      <option value="priorityControl">priorityControl &mdash; sequential equal-flow control by priority list</option>
-      <option value="maintenance">maintenance &mdash; monitoring only, no dispatch</option>
-    </select>
+  <!-- Hidden input is the canonical Node-RED-readable field. The visible
+       picker is rendered by src/editor/mode-cards.js into the placeholder
+       below, and clicks on a card write back to this input. -->
+  <input type="hidden" id="node-input-mode" />
+  <div id="mgc-mode-cards" class="mgc-mode-cards"
+       role="radiogroup" aria-label="Control strategy mode">
+    <!-- mode-cards.js renders three card divs here -->
   </div>
+
   <p style="margin-top:8px;color:#666;font-size:11px;">
     Demand is self-describing per <code>set.demand</code> message: a bare number is
     treated as % of group capacity; <code>{value, unit}</code> with a flow unit
@@ -103,6 +141,23 @@
     in absolute terms. Negative value stops all pumps.
   </p>
 
+  <h3>Rendezvous planner</h3>
+  <div class="form-row" style="display:flex;align-items:center;gap:8px;">
+    <input type="checkbox" id="node-input-useRendezvous"
+           style="width:auto;margin:0;vertical-align:middle;" />
+    <label for="node-input-useRendezvous" style="width:auto;margin:0;cursor:pointer;">
+      Same-time landing
+    </label>
+  </div>
+  <p style="margin-top:4px;color:#666;font-size:11px;">
+    When enabled (default), every dispatch is routed through the rendezvous
+    planner regardless of control strategy: per-pump moves are delayed so all
+    pumps reach their setpoint at the same wall-clock instant
+    <code>t* = max(eta<sub>i</sub>)</code>. When disabled, every
+    <code>flowmovement</code> fires immediately and each pump ramps at its
+    own configured reaction speed (legacy behaviour).
+  </p>
+
   <h3>Output Formats</h3>
   <div class="form-row">
     <label for="node-input-processOutputFormat"><i class="fa fa-random"></i> Process Output</label>