Merge remote-tracking branch 'upstream/development' into mueller/add-tc-scheduler-pus-11

CHANGELOG.md

@@ -28,6 +28,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+- Clock: 
+  - `timeval` to `TimeOfDay_t`
+  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+  - Moved the statics used by Clock in ClockCommon.cpp to this file
+  - Better check for leap seconds
+  - Added Unittests for Clock (only getter)
 
 ## Removed
 

src/fsfw/osal/freertos/Clock.cpp

@@ -11,9 +11,6 @@
 // TODO sanitize input?
 // TODO much of this code can be reused for tick-only systems
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = nullptr;
-
 uint32_t Clock::getTicksPerSecond(void) { return 1000; }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {

src/fsfw/osal/host/Clock.cpp

@@ -2,6 +2,7 @@
 
 #include <chrono>
 
+#include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -11,9 +12,6 @@
 #include <fstream>
 #endif
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
 using SystemClock = std::chrono::system_clock;
 
 uint32_t Clock::getTicksPerSecond(void) {
@@ -127,6 +125,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
   auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
   auto fraction = now - seconds;
   time_t tt = SystemClock::to_time_t(now);
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
   struct tm* timeInfo;
   timeInfo = gmtime(&tt);
   time->year = timeInfo->tm_year + 1900;

src/fsfw/osal/linux/Clock.cpp

@@ -8,11 +8,9 @@
 
 #include <fstream>
 
+#include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
 uint32_t Clock::getTicksPerSecond(void) {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
   return ticks;
@@ -117,7 +115,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
     // TODO errno
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
   struct tm* timeInfo;
   timeInfo = gmtime(&timeUnix.tv_sec);
   time->year = timeInfo->tm_year + 1900;

src/fsfw/osal/rtems/Clock.cpp

@@ -6,9 +6,6 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = nullptr;
-
 uint32_t Clock::getTicksPerSecond(void) {
   rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
   return static_cast<uint32_t>(ticks_per_second);

src/fsfw/timemanager/CCSDSTime.cpp

@@ -91,7 +91,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const uint8_t* f
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return convertTimevalToTimeOfDay(to, &time);
+  return Clock::convertTimevalToTimeOfDay(&time, to);
 }
 
 ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* from,
@@ -489,11 +489,6 @@ ReturnValue_t CCSDSTime::checkTimeOfDay(const Clock::TimeOfDay_t* time) {
   return RETURN_OK;
 }
 
-ReturnValue_t CCSDSTime::convertTimevalToTimeOfDay(Clock::TimeOfDay_t* to, timeval* from) {
-  // This is rather tricky. Implement only if needed. Also, if so, move to OSAL.
-  return UNSUPPORTED_TIME_FORMAT;
-}
-
 ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t* foundLength,
                                         size_t maxLength) {
   uint8_t pField = *from;
@@ -583,7 +578,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime:
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
+  return Clock::convertTimevalToTimeOfDay(&tempTimeval, to);
 }
 
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,

src/fsfw/timemanager/CCSDSTime.h

@@ -223,7 +223,6 @@ class CCSDSTime : public HasReturnvaluesIF {
                                          uint8_t *day);
 
   static bool isLeapYear(uint32_t year);
-  static ReturnValue_t convertTimevalToTimeOfDay(Clock::TimeOfDay_t *to, timeval *from);
 };
 
 #endif /* FSFW_TIMEMANAGER_CCSDSTIME_H_ */

src/fsfw/timemanager/Clock.h

@@ -99,6 +99,13 @@ class Clock {
    */
   static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
 
+  /**
+   * Convert to time of day struct given the POSIX timeval struct
+   * @param from
+   * @param to
+   * @return
+   */
+  static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
   /**
    * Converts a time of day struct to POSIX seconds.
    * @param time The time of day as input
@@ -166,6 +173,7 @@ class Clock {
 
   static MutexIF *timeMutex;
   static uint16_t leapSeconds;
+  static bool leapSecondsSet;
 };
 
 #endif /* FSFW_TIMEMANAGER_CLOCK_H_ */

src/fsfw/timemanager/ClockCommon.cpp

@@ -1,7 +1,13 @@
+#include <ctime>
+
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) {
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = nullptr;
+bool Clock::leapSecondsSet = false;
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
   uint16_t leapSeconds;
   ReturnValue_t result = getLeapSeconds(&leapSeconds);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -27,12 +33,16 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
   MutexGuard helper(timeMutex);
 
   leapSeconds = leapSeconds_;
+  leapSecondsSet = true;
 
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-  if (timeMutex == nullptr) {
+  if (not leapSecondsSet) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   MutexGuard helper(timeMutex);
@@ -42,9 +52,32 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
+  struct tm* timeInfo;
+  // According to https://en.cppreference.com/w/c/chrono/gmtime, the implementation of gmtime_s
+  // in the Windows CRT is incompatible with the C standard but this should not be an issue for
+  // this implementation
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
+  timeInfo = gmtime(&from->tv_sec);
+  to->year = timeInfo->tm_year + 1900;
+  to->month = timeInfo->tm_mon + 1;
+  to->day = timeInfo->tm_mday;
+  to->hour = timeInfo->tm_hour;
+  to->minute = timeInfo->tm_min;
+  to->second = timeInfo->tm_sec;
+  to->usecond = from->tv_usec;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
   if (timeMutex == nullptr) {
-    MutexFactory *mutexFactory = MutexFactory::instance();
+    MutexFactory* mutexFactory = MutexFactory::instance();
     if (mutexFactory == nullptr) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }

tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt

@@ -3,4 +3,5 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
     testOpDivider.cpp
     testBitutil.cpp
     testCRC.cpp
+    testTimevalOperations.cpp
 )

tests/src/fsfw_tests/unit/globalfunctions/testTimevalOperations.cpp

@@ -0,0 +1,124 @@
+#include <fsfw/globalfunctions/timevalOperations.h>
+
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("TimevalTest", "[timevalOperations]") {
+  SECTION("Comparison") {
+    timeval t1;
+    t1.tv_sec = 1648227422;
+    t1.tv_usec = 123456;
+    timeval t2;
+    t2.tv_sec = 1648227422;
+    t2.tv_usec = 123456;
+    REQUIRE(t1 == t2);
+    REQUIRE(t2 == t1);
+    REQUIRE_FALSE(t1 != t2);
+    REQUIRE_FALSE(t2 != t1);
+    REQUIRE(t1 <= t2);
+    REQUIRE(t2 <= t1);
+    REQUIRE(t1 >= t2);
+    REQUIRE(t2 >= t1);
+    REQUIRE_FALSE(t1 < t2);
+    REQUIRE_FALSE(t2 < t1);
+    REQUIRE_FALSE(t1 > t2);
+    REQUIRE_FALSE(t2 > t1);
+
+    timeval t3;
+    t3.tv_sec = 1648227422;
+    t3.tv_usec = 123457;
+    REQUIRE_FALSE(t1 == t3);
+    REQUIRE(t1 != t3);
+    REQUIRE(t1 <= t3);
+    REQUIRE_FALSE(t3 <= t1);
+    REQUIRE_FALSE(t1 >= t3);
+    REQUIRE(t3 >= t1);
+    REQUIRE(t1 < t3);
+    REQUIRE_FALSE(t3 < t1);
+    REQUIRE_FALSE(t1 > t3);
+    REQUIRE(t3 > t1);
+
+    timeval t4;
+    t4.tv_sec = 1648227423;
+    t4.tv_usec = 123456;
+    REQUIRE_FALSE(t1 == t4);
+    REQUIRE(t1 != t4);
+    REQUIRE(t1 <= t4);
+    REQUIRE_FALSE(t4 <= t1);
+    REQUIRE_FALSE(t1 >= t4);
+    REQUIRE(t4 >= t1);
+    REQUIRE(t1 < t4);
+    REQUIRE_FALSE(t4 < t1);
+    REQUIRE_FALSE(t1 > t4);
+    REQUIRE(t4 > t1);
+  }
+  SECTION("Operators") {
+    timeval t1;
+    t1.tv_sec = 1648227422;
+    t1.tv_usec = 123456;
+    timeval t2;
+    t2.tv_sec = 1648227422;
+    t2.tv_usec = 123456;
+    timeval t3 = t1 - t2;
+    REQUIRE(t3.tv_sec == 0);
+    REQUIRE(t3.tv_usec == 0);
+    timeval t4 = t1 - t3;
+    REQUIRE(t4.tv_sec == 1648227422);
+    REQUIRE(t4.tv_usec == 123456);
+    timeval t5 = t3 - t1;
+    REQUIRE(t5.tv_sec == -1648227422);
+    REQUIRE(t5.tv_usec == -123456);
+
+    timeval t6;
+    t6.tv_sec = 1648227400;
+    t6.tv_usec = 999999;
+
+    timeval t7 = t6 + t1;
+    REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull));
+    REQUIRE(t7.tv_usec == 123455);
+
+    timeval t8 = t1 - t6;
+    REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
+    REQUIRE(t8.tv_usec == 123457);
+
+    double scalar = 2;
+    timeval t9 = t1 * scalar;
+    REQUIRE(t9.tv_sec == 3296454844);
+    REQUIRE(t9.tv_usec == 246912);
+    timeval t10 = scalar * t1;
+    REQUIRE(t10.tv_sec == 3296454844);
+    REQUIRE(t10.tv_usec == 246912);
+    timeval t11 = t6 * scalar;
+    REQUIRE(t11.tv_sec == (3296454800 + 1));
+    REQUIRE(t11.tv_usec == 999998);
+
+    timeval t12 = t1 / scalar;
+    REQUIRE(t12.tv_sec == 824113711);
+    REQUIRE(t12.tv_usec == 61728);
+
+    timeval t13 = t6 / scalar;
+    REQUIRE(t13.tv_sec == 824113700);
+    // Rounding issue
+    REQUIRE(t13.tv_usec == 499999);
+
+    double scalar2 = t9 / t1;
+    REQUIRE(scalar2 == Catch::Approx(2.0));
+    double scalar3 = t1 / t6;
+    REQUIRE(scalar3 == Catch::Approx(1.000000013));
+    double scalar4 = t3 / t1;
+    REQUIRE(scalar4 == Catch::Approx(0));
+    double scalar5 = t12 / t1;
+    REQUIRE(scalar5 == Catch::Approx(0.5));
+  }
+
+  SECTION("timevalOperations::toTimeval") {
+    double seconds = 1648227422.123456;
+    timeval t1 = timevalOperations::toTimeval(seconds);
+    REQUIRE(t1.tv_sec == 1648227422);
+    // Allow 1 usec rounding tolerance
+    REQUIRE(t1.tv_usec >= 123455);
+    REQUIRE(t1.tv_usec <= 123457);
+  }
+}

tests/src/fsfw_tests/unit/osal/CMakeLists.txt

@@ -1,4 +1,5 @@
 target_sources(${FSFW_TEST_TGT} PRIVATE
 	TestMessageQueue.cpp
 	TestSemaphore.cpp
+	TestClock.cpp
 )

tests/src/fsfw_tests/unit/osal/TestClock.cpp

@@ -0,0 +1,86 @@
+#include <fsfw/globalfunctions/timevalOperations.h>
+#include <fsfw/timemanager/Clock.h>
+
+#include <array>
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") {
+  SECTION("Test getClock") {
+    timeval time;
+    ReturnValue_t result = Clock::getClock_timeval(&time);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    Clock::TimeOfDay_t timeOfDay;
+    result = Clock::getDateAndTime(&timeOfDay);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    timeval timeOfDayAsTimeval;
+    result = Clock::convertTimeOfDayToTimeval(&timeOfDay, &timeOfDayAsTimeval);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    // We require timeOfDayAsTimeval to be larger than time as it
+    // was request a few ns later
+    double difference = timevalOperations::toDouble(timeOfDayAsTimeval - time);
+    CHECK(difference >= 0.0);
+    CHECK(difference <= 0.005);
+
+    // Conversion in the other direction
+    Clock::TimeOfDay_t timevalAsTimeOfDay;
+    result = Clock::convertTimevalToTimeOfDay(&time, &timevalAsTimeOfDay);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(timevalAsTimeOfDay.year <= timeOfDay.year);
+    // TODO We should write TimeOfDay operators!
+  }
+  SECTION("Leap seconds") {
+    uint16_t leapSeconds = 0;
+    ReturnValue_t result = Clock::getLeapSeconds(&leapSeconds);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+    REQUIRE(leapSeconds == 0);
+    result = Clock::setLeapSeconds(18);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    result = Clock::getLeapSeconds(&leapSeconds);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(leapSeconds == 18);
+  }
+  SECTION("usec Test") {
+    timeval timeAsTimeval;
+    ReturnValue_t result = Clock::getClock_timeval(&timeAsTimeval);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    uint64_t timeAsUsec = 0;
+    result = Clock::getClock_usecs(&timeAsUsec);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    double timeAsUsecDouble = static_cast<double>(timeAsUsec) / 1000000.0;
+    timeval timeAsUsecTimeval = timevalOperations::toTimeval(timeAsUsecDouble);
+    double difference = timevalOperations::toDouble(timeAsUsecTimeval - timeAsTimeval);
+    // We accept 5 ms difference
+    CHECK(difference >= 0.0);
+    CHECK(difference <= 0.005);
+    uint64_t timevalAsUint64 = static_cast<uint64_t>(timeAsTimeval.tv_sec) * 1000000ull +
+                               static_cast<uint64_t>(timeAsTimeval.tv_usec);
+    CHECK((timeAsUsec - timevalAsUint64) >= 0);
+    CHECK((timeAsUsec - timevalAsUint64) <= (5 * 1000));
+  }
+  SECTION("Test j2000") {
+    double j2000;
+    timeval time;
+    time.tv_sec = 1648208539;
+    time.tv_usec = 0;
+    ReturnValue_t result = Clock::convertTimevalToJD2000(time, &j2000);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    double correctJ2000 = 2459663.98772 - 2451545.0;
+    CHECK(j2000 == Catch::Approx(correctJ2000).margin(1.2 * 1e-8));
+  }
+  SECTION("Convert to TT") {
+    timeval utcTime;
+    utcTime.tv_sec = 1648208539;
+    utcTime.tv_usec = 999000;
+    timeval tt;
+    ReturnValue_t result = Clock::setLeapSeconds(27);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    result = Clock::convertUTCToTT(utcTime, &tt);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(tt.tv_usec == 183000);
+    // The plus 1 is a own forced overflow of usecs
+    CHECK(tt.tv_sec == (1648208539 + 27 + 10 + 32 + 1));
+  }
+}

tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp

@@ -81,7 +81,8 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     std::string timeAscii = "2022-12-31T23:59:59.123Z";
     Clock::TimeOfDay_t timeTo;
     const uint8_t* timeChar = reinterpret_cast<const uint8_t*>(timeAscii.c_str());
-    CCSDSTime::convertFromASCII(&timeTo, timeChar, timeAscii.length());
+    auto result = CCSDSTime::convertFromASCII(&timeTo, timeChar, timeAscii.length());
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
     REQUIRE(timeTo.year == 2022);
     REQUIRE(timeTo.month == 12);
     REQUIRE(timeTo.day == 31);
@@ -89,6 +90,19 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     REQUIRE(timeTo.minute == 59);
     REQUIRE(timeTo.second == 59);
     REQUIRE(timeTo.usecond == Catch::Approx(123000));
+
+    std::string timeAscii2 = "2022-365T23:59:59.123Z";
+    const uint8_t* timeChar2 = reinterpret_cast<const uint8_t*>(timeAscii2.c_str());
+    Clock::TimeOfDay_t timeTo2;
+    result = CCSDSTime::convertFromCcsds(&timeTo2, timeChar2, timeAscii2.length());
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(timeTo2.year == 2022);
+    REQUIRE(timeTo2.month == 12);
+    REQUIRE(timeTo2.day == 31);
+    REQUIRE(timeTo2.hour == 23);
+    REQUIRE(timeTo2.minute == 59);
+    REQUIRE(timeTo2.second == 59);
+    REQUIRE(timeTo2.usecond == Catch::Approx(123000));
   }
 
   SECTION("CDS Conversions") {
@@ -119,6 +133,7 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     CHECK(cdsTime.msDay_h == 0xE0);
     CHECK(cdsTime.msDay_l == 0xC5);
     CHECK(cdsTime.msDay_ll == 0xC3);
+    CHECK(cdsTime.pField == CCSDSTime::P_FIELD_CDS_SHORT);
 
     // Conversion back to timeval
     timeval timeReturnAsTimeval;
@@ -128,5 +143,56 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     timeval difference = timeAsTimeval - timeReturnAsTimeval;
     CHECK(difference.tv_usec == 456);
     CHECK(difference.tv_sec == 0);
+
+    Clock::TimeOfDay_t timeReturnAsTimeOfDay;
+    result = CCSDSTime::convertFromCDS(&timeReturnAsTimeOfDay, &cdsTime);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(timeReturnAsTimeOfDay.year == 2020);
+    CHECK(timeReturnAsTimeOfDay.month == 2);
+    CHECK(timeReturnAsTimeOfDay.day == 29);
+    CHECK(timeReturnAsTimeOfDay.hour == 13);
+    CHECK(timeReturnAsTimeOfDay.minute == 24);
+    CHECK(timeReturnAsTimeOfDay.second == 45);
+    // micro seconds precision is lost
+    CHECK(timeReturnAsTimeOfDay.usecond == 123000);
+
+    Clock::TimeOfDay_t timeReturnAsTodFromBuffer;
+    const uint8_t* buffer = reinterpret_cast<const uint8_t*>(&cdsTime);
+    result = CCSDSTime::convertFromCDS(&timeReturnAsTodFromBuffer, buffer, sizeof(cdsTime));
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(timeReturnAsTodFromBuffer.year == time.year);
+    CHECK(timeReturnAsTodFromBuffer.month == time.month);
+    CHECK(timeReturnAsTodFromBuffer.day == time.day);
+    CHECK(timeReturnAsTodFromBuffer.hour == time.hour);
+    CHECK(timeReturnAsTodFromBuffer.minute == time.minute);
+    CHECK(timeReturnAsTodFromBuffer.second == time.second);
+    CHECK(timeReturnAsTodFromBuffer.usecond == 123000);
+
+    Clock::TimeOfDay_t todFromCCSDS;
+    result = CCSDSTime::convertFromCcsds(&todFromCCSDS, buffer, sizeof(cdsTime));
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(todFromCCSDS.year == time.year);
+    CHECK(todFromCCSDS.month == time.month);
+    CHECK(todFromCCSDS.day == time.day);
+    CHECK(todFromCCSDS.hour == time.hour);
+    CHECK(todFromCCSDS.minute == time.minute);
+    CHECK(todFromCCSDS.second == time.second);
+    CHECK(todFromCCSDS.usecond == 123000);
+  }
+  SECTION("CCSDS Failures") {
+    Clock::TimeOfDay_t time;
+    time.year = 2020;
+    time.month = 12;
+    time.day = 32;
+    time.hour = 13;
+    time.minute = 24;
+    time.second = 45;
+    time.usecond = 123456;
+    CCSDSTime::Ccs_mseconds to;
+    auto result = CCSDSTime::convertToCcsds(&to, &time);
+    REQUIRE(result == CCSDSTime::INVALID_TIME_FORMAT);
+    CCSDSTime::Ccs_seconds to2;
+    result = CCSDSTime::convertToCcsds(&to2, &time);
+    REQUIRE(result == CCSDSTime::INVALID_TIME_FORMAT);
   }
 }