From c6ea30ffe809e9cafd8ae32da6df6603d53a5285 Mon Sep 17 00:00:00 2001
From: elian-soto07 <elian.soto@upr.edu>
Date: Wed, 23 Jul 2025 16:07:24 -0400
Subject: [PATCH] baudrate tester script

---
 .../scripts/controller/baud_rate_tester.py    | 59 +++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100644 autonomy/scripts/controller/baud_rate_tester.py

diff --git a/autonomy/scripts/controller/baud_rate_tester.py b/autonomy/scripts/controller/baud_rate_tester.py
new file mode 100644
index 0000000..177d180
--- /dev/null
+++ b/autonomy/scripts/controller/baud_rate_tester.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import serial
+import time
+import os
+
+CONTROL_PORT = "/dev/hydrus_control"
+
+BAUD_RATES = [
+    300, 1200, 2400, 4800, 9600,
+    14400, 19200, 38400, 57600,
+    74880, 115200, 128000, 250000,
+    500000, 1000000, 2000000
+]
+
+TEST_COMMAND = "T1:1500\n"
+
+def test_baud_rate(port, baud_rate):
+    try:
+        print(f"Testing baud rate: {baud_rate}")
+        with serial.Serial(port=port, baudrate=baud_rate, timeout=2) as ser:
+            time.sleep(2)  
+            ser.reset_input_buffer()
+            ser.write(TEST_COMMAND.encode("utf-8"))
+
+            # Read posible response
+            response = ser.readline().decode("utf-8").strip()
+            if response:
+                print(f"Baud rate {baud_rate} worked, Response: {response}")
+                return True
+            else:
+                print(f"Baud rate {baud_rate} gave no response")
+                return False
+
+    except serial.SerialException as e:
+        print(f"Error with baud rate {baud_rate}: {e}")
+        return False
+
+def main():
+    if not os.path.exists(CONTROL_PORT):
+        print(f"Port {CONTROL_PORT} not found")
+        return
+
+    print("Starting baud rate test\n")
+    working_rates = []
+
+    for baud in BAUD_RATES:
+        if test_baud_rate(CONTROL_PORT, baud):
+            working_rates.append(baud)
+
+    print("\nTest Result:")
+    if working_rates:
+        print("Baud rates that responded corrctly:")
+        for br in working_rates:
+            print(f"   - {br}")
+    else:
+        print("No working baud rates found")
+
+if __name__ == "__main__":
+    main()