diff --git a/modules/cfe_testcase/CMakeLists.txt b/modules/cfe_testcase/CMakeLists.txt
index 8189dba9b..8b64f9cb6 100644
--- a/modules/cfe_testcase/CMakeLists.txt
+++ b/modules/cfe_testcase/CMakeLists.txt
@@ -12,6 +12,7 @@ add_cfe_app(cfe_testcase
     src/fs_util_test.c
     src/message_id_test.c
     src/sb_pipe_mang_test.c
+    src/sb_task_test.c
     src/time_arithmetic_test.c
     src/time_current_test.c
     src/time_conversion_test.c
diff --git a/modules/cfe_testcase/src/cfe_test.c b/modules/cfe_testcase/src/cfe_test.c
index b1dbe4767..20accb360 100644
--- a/modules/cfe_testcase/src/cfe_test.c
+++ b/modules/cfe_testcase/src/cfe_test.c
@@ -61,6 +61,7 @@ void CFE_TestMain(void)
     FSUtilTestSetup();
     MessageIdTestSetup();
     SBPipeMangSetup();
+    SBTaskTestSetup();
     TimeArithmeticTestSetup();
     TimeCurrentTestSetup();
     TimeConversionTestSetup();
diff --git a/modules/cfe_testcase/src/cfe_test.h b/modules/cfe_testcase/src/cfe_test.h
index 558b0a1f6..117194445 100644
--- a/modules/cfe_testcase/src/cfe_test.h
+++ b/modules/cfe_testcase/src/cfe_test.h
@@ -90,6 +90,7 @@ void FSHeaderTestSetup(void);
 void FSUtilTestSetup(void);
 void MessageIdTestSetup(void);
 void SBPipeMangSetup(void);
+void SBTaskTestSetup(void);
 void TimeArithmeticTestSetup(void);
 void TimeCurrentTestSetup(void);
 void TimeConversionTestSetup(void);
diff --git a/modules/cfe_testcase/src/sb_task_test.c b/modules/cfe_testcase/src/sb_task_test.c
new file mode 100644
index 000000000..9bfbd17eb
--- /dev/null
+++ b/modules/cfe_testcase/src/sb_task_test.c
@@ -0,0 +1,127 @@
+/*************************************************************************
+**
+**      GSC-18128-1, "Core Flight Executive Version 6.7"
+**
+**      Copyright (c) 2006-2019 United States Government as represented by
+**      the Administrator of the National Aeronautics and Space Administration.
+**      All Rights Reserved.
+**
+**      Licensed under the Apache License, Version 2.0 (the "License");
+**      you may not use this file except in compliance with the License.
+**      You may obtain a copy of the License at
+**
+**        http://www.apache.org/licenses/LICENSE-2.0
+**
+**      Unless required by applicable law or agreed to in writing, software
+**      distributed under the License is distributed on an "AS IS" BASIS,
+**      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+**      See the License for the specific language governing permissions and
+**      limitations under the License.
+**
+** File: es_task_test.c
+**
+** Purpose:
+**   Functional test of ES Child Tasks APIs
+**
+**   Demonstration of how to register and use the UT assert functions.
+**
+*************************************************************************/
+
+/*
+ * Includes
+ */
+
+#include <unistd.h>
+
+#include "cfe.h"
+#include "cfe_test.h"
+
+typedef struct
+{
+    CFE_MSG_TelemetryHeader_t Hdr;
+    uint32                    Tlm32Param1;
+    uint16                    Tlm16Param1;
+    uint16                    Tlm16Param2;
+    uint8                     Tlm8Param1;
+    uint8                     Tlm8Param2;
+    uint8                     Tlm8Param3;
+    uint8                     Tlm8Param4;
+} UT_Test_Tlm_t;
+
+typedef struct ReceiveBuffer_PendForeverPipeDestruction_Task_Data_s
+{
+    CFE_SB_Buffer_t *SBBufPtr;
+    CFE_SB_PipeId_t  PipeId;
+    CFE_Status_t     status;
+    uint8_t          entered;
+    uint8_t          exited;
+} ReceiveBuffer_PendForeverPipeDestruction_Task_Data_t;
+
+static ReceiveBuffer_PendForeverPipeDestruction_Task_Data_t ReceiveBuffer_PendForeverPipeDestruction_Task_Data = {
+    NULL, 0, CFE_SUCCESS, 0, 0};
+
+void ReceiveBuffer_PendForeverPipeDestruction_Task(void)
+{
+    ReceiveBuffer_PendForeverPipeDestruction_Task_Data_t *D = &ReceiveBuffer_PendForeverPipeDestruction_Task_Data;
+
+    D->entered = 1;
+
+    // Receive messages while receive is successful
+    while (D->status == CFE_SUCCESS)
+    {
+        D->status = CFE_SB_ReceiveBuffer(&(D->SBBufPtr), D->PipeId, CFE_SB_PEND_FOREVER);
+    }
+
+    D->exited = 1;
+
+    CFE_ES_ExitChildTask();
+}
+
+/*
+** Test destroying a pipe during a "pend forever" timeout
+*/
+void Test_ReceiveBuffer_PendForeverPipeDestruction(void)
+{
+    ReceiveBuffer_PendForeverPipeDestruction_Task_Data_t *D     = &ReceiveBuffer_PendForeverPipeDestruction_Task_Data;
+    CFE_SB_MsgId_t                                        MsgId = 0x08D5;
+    UT_Test_Tlm_t                                         TlmPkt;
+    uint32                                                PipeDepth = 10;
+    CFE_ES_TaskId_t                                       TaskID;
+
+    /* Initialize message header */
+    CFE_MSG_Init(&TlmPkt.Hdr.Msg, MsgId, sizeof(TlmPkt));
+
+    /* Create pipe */
+    UtAssert_INT32_EQ(CFE_SUCCESS, CFE_SB_CreatePipe(&(D->PipeId), PipeDepth, "RcvTestPipe"));
+
+    /* Subscribe to the pipe */
+    UtAssert_UINT32_EQ(CFE_SUCCESS, CFE_SB_Subscribe(MsgId, D->PipeId));
+
+    /* Send one message */
+    UtAssert_UINT32_EQ(CFE_SUCCESS, CFE_SB_TransmitMsg(&TlmPkt.Hdr.Msg, true));
+
+    /* Create a task to service the pipe */
+    UtAssert_INT32_EQ(CFE_SUCCESS, CFE_ES_CreateChildTask(
+                                       &(TaskID), "PFPD_Task",
+                                       (CFE_ES_ChildTaskMainFuncPtr_t)&ReceiveBuffer_PendForeverPipeDestruction_Task,
+                                       NULL, CFE_PLATFORM_ES_DEFAULT_STACK_SIZE, 0, 0));
+
+    /* Wait for one second after creating the child task */
+    OS_TaskDelay(1000 /* us */);
+
+    /* Delete the pipe (this should cause the child task to break out if its loop) */
+    UtAssert_INT32_EQ(CFE_SUCCESS, CFE_SB_DeletePipe(D->PipeId));
+
+    /* Wait for the task to fail */
+    OS_TaskDelay(1000 /* us */);
+
+    /* Assert that the child task has broken out of its loop and terminated */
+    UtAssert_INT32_EQ(D->entered, 1);
+    UtAssert_INT32_EQ(D->exited, 1);
+    UtAssert_INT32_NEQ(D->status, CFE_SUCCESS);
+}
+
+void SBTaskTestSetup(void)
+{
+    UtTest_Add(Test_ReceiveBuffer_PendForeverPipeDestruction, NULL, NULL, "Test destroying a pipe while waiting.");
+}