samtvcli is a network CLI remote for Samsung TVs from 2014-2015 (I think those are models H & J).
You can use it to send keys with the command line or use its basic text user interface in a console.
I have tested it with a Samsung UE48JU6000 TV.
% samtvcli tui
The text user interface keybindings can be customized with a YAML configuration file.
% samtvcli key send KEY_MENU _ KEY_RETURN KEY_VOLUP
The autogenerated manual pages are online there.
You can also use the built-in help command.
You can download pre-built binaries here, for several platforms/OSes.
samtvcli is written in Go (Golang).
The source code is not yet available, but I plan to release it later.