Indeed, using SSLR makes it rather easy to have a parser once you have the grammar. According to the doc you mention:
a parser simply parses an input based on your grammar to yield a parse tree
As you started having a look at the Python analyzer, I suppose that you could check PythonSquidSensor and PythonScanner. That should help you understand how you can use the parser to feed metrics and issues to the SonarQube API.
Oh I’m sorry, I don’t know why, but I never saw that you replied ! Well, that’s what I did and it is now working, but thank you very much for your answer !