diff --git a/.github/workflows/test_python_scripts.yml b/.github/workflows/test_python_scripts.yml
new file mode 100644
index 00000000..38911bdf
--- /dev/null
+++ b/.github/workflows/test_python_scripts.yml
@@ -0,0 +1,29 @@
+name: Test Python scripts
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  test_python_scripts:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+      - name: Install dependencies
+        run: pip install pytest pytest-cov
+      - name: Run tests
+        run: python -m pytest scripts/*.py --cov=scripts --cov-report=xml
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v5
+        with:
+          fail_ci_if_error: true
+          files: coverage.xml
+          flags: python_scripts
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
diff --git a/scripts/tool_communication.py b/scripts/tool_communication.py
index d77e7733..4a4f10dc 100755
--- a/scripts/tool_communication.py
+++ b/scripts/tool_communication.py
@@ -37,6 +37,10 @@
 import argparse
 import socket
 import os
+import pytest
+
+RED = "\033[31m"
+RESET = "\033[0m"
 
 
 # Custom formatter to show both default values and description formatting in the help message
@@ -83,8 +87,6 @@ def check_tcp(ip, port, timeout=5.0):
 
 
 def main(args):
-    RED = "\033[31m"
-    RESET = "\033[0m"
 
     logging.basicConfig(level=logging.INFO, format="[%(levelname)s] %(message)s")
 
@@ -97,27 +99,33 @@ def main(args):
 
     # Check IP and port reachability
     if not check_tcp(robot_ip, tcp_port):
-        logging.error(
-            f"{RED}Cannot reach {robot_ip}:{tcp_port}.\n"
+        raise ConnectionError(
+            f"Cannot reach {robot_ip}:{tcp_port}.\n"
             "Check that the IP address and port are correct.\n"
             "If so, ensure that the robot is powered on, reachable on the network, "
-            f"and that the ToolCommForwarder URCap is running.{RESET}"
+            f"and that the ToolCommForwarder URCap is running."
+        )
+
+    # Check if parent directory of device_name exists
+    parent_dir = os.path.dirname(local_device)
+    if parent_dir and not os.path.exists(parent_dir):
+        raise FileNotFoundError(
+            f"Parent directory '{parent_dir}' does not exist.\n"
+            "Socat needs an existing directory to create the PTY symlink.\n"
+            "Fix:\n"
+            f"  - Create the parent directory, e.g. 'mkdir -p {parent_dir}'.\n"
+            f"  - Use a different device name with an existing parent directory."
         )
-        logging.info("Exiting tool communication script.")
-        return
 
     # Check if the device_name is a directory
     if os.path.isdir(local_device):
-
-        logging.error(
-            f"{RED}'{local_device}' exists and is a directory.\n"
+        raise FileExistsError(
+            f"'{local_device}' exists and is a directory.\n"
             "Socat needs a file path to create a PTY symlink, but it cannot replace a directory.\n"
             "Fix:\n"
             "  - Remove the directory.\n"
-            f"  - Use a different device name, e.g. '--device-name /tmp/ttyUR0'. {RESET}"
-        )
-        logging.info("Exiting tool communication script.")
-        return
+            f"  - Use a different device name, e.g. '--device-name /tmp/ttyUR0'."
+                                 )
 
     # Configure socat command
     socat_config = [
@@ -144,19 +152,64 @@ def main(args):
 
     # Error case when socat is not installed
     except FileNotFoundError:
-        logging.error(f"{RED}Socat not found in PATH. Install it (e.g. apt-get install socat). {RESET}")
-        logging.info("Exiting tool communication script.")
-        return
+        raise FileNotFoundError("Socat not found in PATH. Install it (e.g. apt-get install socat).")
 
-    # Other errors
-    except Exception as e:
-        logging.error(f"{RED}Unexpected error launching socat: {e} {RESET}")
-        logging.info("Exiting tool communication script.")
-        return
 
-    return
+def test_check_tcp():
+    assert not check_tcp("127.0.0.1", 0.1)
+
+
+def test_check_tcp_open_port():
+    bind_ip = "127.0.0.1"
+    bind_port = 54321
+    args = argparse.Namespace(
+        robot_ip=bind_ip,
+        tcp_port=bind_port,
+        device_name="/tmp/nonexistent_dir/ttyUR"
+    )
+    with pytest.raises(ConnectionError):
+        main(args)
+
+
+def test_parent_dir_doesnt_exist():
+    bind_ip = "127.0.0.1"
+    bind_port = 54321
+    server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    server.bind((bind_ip, bind_port))
+    server.listen(1)
+    args = argparse.Namespace(
+        robot_ip=bind_ip,
+        tcp_port=bind_port,
+        device_name="/tmp/nonexistent_dir/ttyUR"
+    )
+    with pytest.raises(FileNotFoundError) as exc_info:
+        main(args)
+    assert os.path.dirname(args.device_name) in str(exc_info.value)
+    server.close()
+
+
+def test_device_name_is_directory():
+    bind_ip = "127.0.0.1"
+    bind_port = 54321
+    server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    server.bind((bind_ip, bind_port))
+    server.listen(1)
+    args = argparse.Namespace(
+        robot_ip=bind_ip,
+        tcp_port=bind_port,
+        device_name="/tmp/ttyUR_dir"
+    )
+    os.makedirs(args.device_name, exist_ok=True)
+    with pytest.raises(FileExistsError) as exc_info:
+        main(args)
+    assert args.device_name in str(exc_info.value)
+    server.close()
 
 
 if __name__ == "__main__":
     args = get_args()
-    main(args)
+    try:
+        main(args)
+    except Exception as e:
+        logging.error(f"{RED}Unexpected error: {e} {RESET}")
+        logging.info("Exiting tool communication script.")