From a6c164e5ba00fd9a17cc7dd4b6df055db576a481 Mon Sep 17 00:00:00 2001
From: Rongrui Zhu <ronrzhu@gmail.com>
Date: Thu, 5 Mar 2026 19:31:05 -0800
Subject: [PATCH] Added TimeProperty

---
 .../common/properties/PropertyFactory.java    | 24 ++++++++++++++++++-
 .../xbot/common/properties/TimeProperty.java  | 20 ++++++++++++++++
 .../properties/PropertyFactoryTest.java       | 22 +++++++++++++++++
 3 files changed, 65 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/xbot/common/properties/TimeProperty.java

diff --git a/src/main/java/xbot/common/properties/PropertyFactory.java b/src/main/java/xbot/common/properties/PropertyFactory.java
index 5d28d509..c548ef32 100644
--- a/src/main/java/xbot/common/properties/PropertyFactory.java
+++ b/src/main/java/xbot/common/properties/PropertyFactory.java
@@ -3,6 +3,7 @@
 import javax.inject.Inject;
 
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Time;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
@@ -10,7 +11,6 @@
 import edu.wpi.first.units.measure.Distance;
 import xbot.common.logging.RobotAssertionManager;
 import xbot.common.properties.Property.PropertyLevel;
-import xbot.common.properties.Property.PropertyPersistenceType;
 
 /**
  * A factory for creating properties. This is the preferred way to create properties.
@@ -233,4 +233,26 @@ public AngularVelocityProperty createPersistentProperty(String suffix, AngularVe
         checkPrefixSet();
         return new AngularVelocityProperty(getCleanPrefix(), suffix, defaultValue, this.propertyManager, level);
     }
+
+    /**
+     * Creates a persistent property for an angle.
+     * @param suffix The suffix for the property.
+     * @param defaultValue The default value for the property.
+     * @return The property.
+     */
+    public TimeProperty createPersistentProperty(String suffix, Time defaultValue) {
+        return this.createPersistentProperty(suffix, defaultValue, defaultLevel);
+    }
+
+    /**
+     * Creates a persistent property for an angle with a specified property level.
+     * @param suffix The suffix for the property.
+     * @param defaultValue The default value for the property.
+     * @param level The property level.
+     * @return The property.
+     */
+    public TimeProperty createPersistentProperty(String suffix, Time defaultValue, PropertyLevel level) {
+        checkPrefixSet();
+        return new TimeProperty(getCleanPrefix(), suffix, defaultValue, this.propertyManager, level);
+    }
 }
\ No newline at end of file
diff --git a/src/main/java/xbot/common/properties/TimeProperty.java b/src/main/java/xbot/common/properties/TimeProperty.java
new file mode 100644
index 00000000..ddccd734
--- /dev/null
+++ b/src/main/java/xbot/common/properties/TimeProperty.java
@@ -0,0 +1,20 @@
+package xbot.common.properties;
+
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.measure.MutTime;
+import edu.wpi.first.units.measure.Time;
+
+/**
+ * This manages an Angle in the property system.
+ *
+ * @author Alex
+ */
+public class TimeProperty extends MeasureProperty<Time, MutTime, TimeUnit> {
+    public TimeProperty(String prefix, String name, Time defaultValue, XPropertyManager manager) {
+        super(prefix, name, defaultValue, manager);
+    }
+
+    public TimeProperty(String prefix, String name, Time defaultValue, XPropertyManager manager, PropertyLevel level) {
+        super(prefix, name, defaultValue, manager, level);
+    }
+}
diff --git a/src/test/java/xbot/common/properties/PropertyFactoryTest.java b/src/test/java/xbot/common/properties/PropertyFactoryTest.java
index 0512e5ff..79dcb39b 100644
--- a/src/test/java/xbot/common/properties/PropertyFactoryTest.java
+++ b/src/test/java/xbot/common/properties/PropertyFactoryTest.java
@@ -7,8 +7,10 @@
 import static edu.wpi.first.units.Units.DegreesPerSecond;
 import static edu.wpi.first.units.Units.Inches;
 import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.Milliseconds;
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Seconds;
 import static org.junit.Assert.assertEquals;
 
 import org.junit.Test;
@@ -86,4 +88,24 @@ public void testAngularVelocityProperty() {
         // suffix should be modified to state the units
         assertEquals("test-in-Radian per Seconds", propertyRadians.suffix);
     }
+
+    @Test
+    public void testTimeProperty() {
+        PropertyFactory factory = getInjectorComponent().propertyFactory();
+        factory.setPrefix("myPrefix");
+
+        // should get back the same value as we put in with the same unit as the defaultValue
+        TimeProperty propertySeconds = factory.createPersistentProperty("test", Seconds.of(5));
+        assertEquals(5, propertySeconds.get().in(Seconds), 0.0001);
+        // suffix should be modified to state the units
+        assertEquals("test-in-Seconds", propertySeconds.suffix);
+        propertySeconds.set(Seconds.of(10));
+        assertEquals(10, propertySeconds.get().in(Seconds), 0.0001);
+
+        // should get back the same value as we put in with the same unit as the defaultValue
+        TimeProperty propertyMilliseconds = factory.createPersistentProperty("test", Milliseconds.of(Math.PI));
+        assertEquals(Math.PI, propertyMilliseconds.get().in(Milliseconds), 0.0001);
+        // suffix should be modified to state the units
+        assertEquals("test-in-Milliseconds", propertyMilliseconds.suffix);
+    }
 }
\ No newline at end of file