Dry-run snap carries the pending blend chain

parol6/client/dry_run_client.py

@@ -238,14 +238,22 @@ def _snap_to_angles(self, angles_deg: list[float]) -> DryRunResult:
         """Snap to angles instantly (no trajectory) — used by Home and Teleport.
 
         Both establish position references, so subsequent planned moves pass
-        the homed gate."""
-        self._planner.flush()
+        the homed gate. Blended moves still buffered in the planner are
+        planned first and lead the returned result, so their paths — and any
+        refusal — reach the caller exactly as the live controller would run
+        them before the snap."""
+        pending = [
+            r
+            for seg in self._planner.flush()
+            if (r := self._segment_to_result(seg)) is not None
+        ]
         deg = np.asarray(angles_deg, dtype=np.float64)
         deg_to_steps(deg, self._state.Position_in)
         self._planner.state.Position_in[:] = self._state.Position_in
         self._planner.state.Homed_in.fill(1)
         rad = np.radians(deg).reshape(1, -1)
-        return _build_result(rad, duration=0.0)
+        snap = _build_result(rad, duration=0.0)
+        return self._merge_results([*pending, snap]) if pending else snap
 
     def _dispatch(self, params: Any) -> DryRunResult | None:
         """Route a command struct through the trajectory planner."""

tests/unit/test_dry_run_script_compat.py

@@ -9,6 +9,7 @@
 from the real client.
 """
 
+import numpy as np
 import pytest
 
 from parol6.client.dry_run_client import DryRunRobotClient
@@ -161,3 +162,17 @@ def test_referenced_home_previews_as_return_move(self):
         result = client.home()
         assert result is not None and result.error is None
         assert result.duration == 0.0
+
+    def test_snap_carries_the_pending_blend_chain(self):
+        """A blended move still buffered when the script homes with calibrate
+        (or teleports) is planned and leads the returned result — the live
+        controller runs it before the snap, so the preview must show it."""
+        client = DryRunRobotClient(initial_joints_deg=HOME, initial_homed=True)
+        assert client.move_j(ANGLES_A, speed=0.5, r=10) is None  # buffered
+
+        result = client.home(calibrate=True)
+        assert result is not None and result.error is None
+        assert result.duration > 0.0
+        assert len(result.joint_trajectory_rad) > 1
+        assert np.allclose(np.degrees(result.end_joints_rad), HOME, atol=0.5)
+        assert client.flush() == []