update IDL template so it can process builtin types

msg/templates/urtps/msg.idl.template

@@ -38,13 +38,27 @@
 @{
 import genmsg.msgs
 import gencpp
-from px_generate_uorb_topic_helper import * # this is in Tools/
+from px_generate_uorb_topic_helper import *  # this is in Tools/
+
+builtin_types = set()
 }@
 @#################################################
 @# Searching for serialize function per each field
 @#################################################
 @{
 
+def get_include_directives(spec):
+    include_directives = set()
+    for field in (spec.parsed_fields()):
+        if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
+            continue
+        builtin_type = str(field.base_type).replace('px4/', '')
+        include_directive = '#include "%s_.idl"' % builtin_type
+        builtin_types.add(builtin_type)
+        include_directives.add(include_directive)
+    return sorted(include_directives)
+
+
 def get_idl_type_name(field_type):
     if field_type in type_idl_map:
         return type_idl_map[field_type]
@@ -52,23 +66,43 @@ def get_idl_type_name(field_type):
         (package, name) = genmsg.names.package_resource_name(field_type)
         return name
 
+
 def add_msg_field(field):
     if (not field.is_header):
-        if (not field.is_array):
-            print("    " + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
+        if field.is_array:
+            print("    " + str(get_idl_type_name(field.base_type)) +
+                  ' ' + field.name + '[' + str(field.array_len) + '];')
         else:
-            print("    " + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
+            print("    " + str(get_idl_type_name(field.type)) +
+                  ' ' + field.name + ';')
+
 
 def add_msg_fields():
     # sort fields (using a stable sort) as in the declaration of the type
-    sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
+    sorted_fields = sorted(spec.parsed_fields(),
+                           key=sizeof_field_type, reverse=True)
     for field in sorted_fields:
         add_msg_field(field)
-
-
 }@
-@
+#ifndef __@(spec.short_name)__idl__
+#define __@(spec.short_name)__idl__
+
+@#############################
+@# Include dependency messages
+@#############################
+@[for line in get_include_directives(spec)]@
+@(line)
+@[end for]@
+
+@[for type in builtin_types]@
+typedef @(type + '_') @(type);
+@[end for]@
+
 struct @(spec.short_name)_
 {
 @add_msg_fields()
 }; // struct @(spec.short_name)_
+
+#pragma keylist @(spec.short_name)_
+
+#endif  // __@(spec.short_name)__idl__