Build: Generate service ID header file

According to PSA FF, the header file for service ID need be created by
tools:
- Add template file for the generated header file.
- The SID macro definitions derived from manifest files that map from
  RoT Service names with "_SID" postfix to Service IDs.
- The version macro definitions derived from manifest files that map
  from RoT Service names with "_VERSION" postfix to minor_version.
- Add the 'sid.h' in the generated file list.

Change-Id: If53d3db0048db5d643fa33067efdd8692b186d60
Signed-off-by: Edison Ai <edison.ai@arm.com>