[DDS layer] TypeSupport create DynamicData

[xixioba]

1. create TypeSupport and register type

DynamicType_ptr byte_type = DynamicTypeBuilderFactory::get_instance()->create_byte_type();
DynamicTypeBuilder_ptr sequance_builder = DynamicTypeBuilderFactory::get_instance()->create_sequence_builder(byte_type);
pBuilder = DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
pBuilder->add_member(0, "size", DynamicTypeBuilderFactory::get_instance()->create_uint32_type());
pBuilder->add_member(1, "message", sequance_builder.get());
dyn_type = pBuilder->build();
TypeSupport type_support(new DynamicPubSubType(dyn_type));
// type_support.get()->auto_fill_type_information(false);
// type_support.get()->auto_fill_type_object(true);
type_support.register_type(participant_, "protobuf"); 

so that i have the struct like:

uint32_t size;
sequence<byte> message;

2. How to create data use for DataWriter and DataReader?

• create data from dyn_type, but I need to save dyn_type myself？

• create data from TypeSupport, but I don't know how to use.

Finally, is there a more detailed example about Dynamic Topic Types？