Convert user sample into a DynamicData sample

Hi,

I'd like to convert a user-defined sample into a DynamicData sample so that I can use typecodes to output the message in a custom format (in C++).

Say the user-data type is Foo defined in my IDL. I'm receiving messages via a FooDataReader and the Foo* structures are being passed through the code. At some point, I'd like to take a Foo* sample and output it in a custom format (there are actually many types, and I'd like to have a generic outputter that works with any type). To do that, it looks like I need the TypeCode and DynamicData APIs. I can get the type code information using Foo_get_typecode(), and I can create a DyanicData object from that. My problem is this DynamicData object doesn't represent my specific Foo sample. Is there any way to create a DynamicData object that already has all the data in the Foo sample?

It looks like I could create a separate DynamicData reader that gives me DynamicData samples instead of Foo samples, but I'd rather not create one reader for custom output and one reader for normal data processing.

Thanks,

-Neal