From 6a131bc7331f33df0d7e6056e78c9ad2f257a3b1 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 7 Jan 2025 14:49:53 +0000
Subject: [PATCH] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 .../scripts/los_guidance_action_server.py     | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/guidance/guidance_los/scripts/los_guidance_action_server.py b/guidance/guidance_los/scripts/los_guidance_action_server.py
index 800f6c97..6346d769 100755
--- a/guidance/guidance_los/scripts/los_guidance_action_server.py
+++ b/guidance/guidance_los/scripts/los_guidance_action_server.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 
+import threading
+
 import numpy as np
 import rclpy
-import threading
 from geometry_msgs.msg import PoseStamped, Vector3Stamped
 from guidance_los.los_guidance_algorithm import (
     FilterParameters,
@@ -12,7 +13,7 @@
 )
 from nav_msgs.msg import Odometry
 from rclpy.action import ActionServer
-from rclpy.action.server import ServerGoalHandle, GoalResponse, CancelResponse
+from rclpy.action.server import CancelResponse, GoalResponse, ServerGoalHandle
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
@@ -34,11 +35,10 @@ class LOSActionServer(Node):
 
     def __init__(self):
         super().__init__('los_guidance_node')
-        
+
         # Initialize goal handle lock
         self._goal_lock = threading.Lock()
 
-
         # update rate parameter
         self.declare_parameter('update_rate', 10.0)
         update_rate = self.get_parameter('update_rate').value
@@ -195,23 +195,22 @@ def _initialize_action_server(self):
             cancel_callback=self.cancel_callback,
             callback_group=self.action_cb_group,
         )
-    
-    
+
     def goal_callback(self, goal_request):
         """Handle new goal requests with preemption."""
         self.get_logger().info("Received new goal request")
-            
+
         # Validate waypoints exist
         if not goal_request.waypoints:
             self.get_logger().warn("No waypoints in request, rejecting")
             return GoalResponse.REJECT
-        
+
         with self._goal_lock:
             # If there's an active goal, preempt it
             if self.goal_handle and self.goal_handle.is_active:
                 self.get_logger().info("Preempting current goal")
                 self.goal_handle.abort()
-            
+
             return GoalResponse.ACCEPT
 
     def cancel_callback(self, goal_handle):
@@ -359,7 +358,7 @@ def execute_callback(self, goal_handle: ServerGoalHandle):
             with self._goal_lock:
                 if self.goal_handle == goal_handle:
                     self.goal_handle = None
-                    
+
     def publish_guidance(self, commands: State):
         """Publish the commanded surge velocity, pitch angle, and yaw angle."""
         msg = LOSGuidance()