[wip] Update sdk in python

src/main.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+import asyncio
+import argparse
+from pathlib import Path
+
+import rospy
+
+from farm_ng.core.event_client import EventClient
+from farm_ng.core.events_file_reader import proto_from_json_file
+from farm_ng.core.event_service_pb2 import (
+    EventServiceConfigList,
+    SubscribeRequest,
+)
+
+
+clients = {}
+publishers = {}
+
+# TODO: implement me
+def _farmng_to_ros_type(farmng_type):
+    """Map the farmng type to the ros type"""
+    pass
+
+
+def _farmng_to_ros(farmng_msg):
+    """Convert the farmng message to the ros message"""
+    pass
+
+
+async def _subscribe(client, subscribe_request, ros_publisher):
+    async for event, message in client.subscribe(subscribe_request, decode=True):
+        print(f"Got reply: {message}")
+        ros_msg = _farmng_to_ros(message)
+        ros_publisher.publish(ros_msg)
+
+
+async def subscribe(service_name):
+    client = clients[service_name]
+
+    uris = await client.list_uris()
+
+    for uri in uris:
+        if not uri.path in publishers:
+            # TODO: create better the ros pulblishers
+            ros_msg_type = _farmng_to_ros_type(uri.path)
+            publishers[uri.path] = rospy.Publisher(uri.path, ros_msg_type, queue_size=10)
+
+        subscribe_request = SubscribeRequest(uri=uri)
+        subscribe_task = asyncio.create_task(_subscribe(client, subscribe_request, publishers[uri.path]))
+
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='AMiGA ROS Bridge')
+    parser.add_argument('--service-config', type=Path, required=True, help='Path to config file')
+    args = parser.parse_args()
+
+    # config with all the configs
+    config_list: EventServiceConfigList = proto_from_json_file(
+        args.service_config, EventServiceConfigList()
+    )
+
+    # populate the clients
+    for config in config_list.configs:
+        if config.port != 0:
+            clients[config.name] = EventClient(config)
+
+    # start the amiga subscriptions to publish to ros 
+    for service_name in clients.keys():
+        asyncio.create_task(subscribe(service_name))
+
+    # TODO: start the ros subscriptions to publish to amiga
+
+    # start the ros node
+
+    rospy.init_node('my_tutorial_node')
+    rospy.loginfo("my_tutorial_node started!")
+
+    try:
+        rospy.spin()
+    except KeyboardInterrupt:
+        pass
+
+    rospy.loginfo("finsihed!")