text: // Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #include <uxr/client/client.h>
  
  #include <stdio.h>
  #include <stdlib.h>
  #include <inttypes.h>
  #ifdef WIN32
  #include <windows.h>
  #else
  #include <unistd.h>
  #endif
  
  int main(int args, char** argv)
  {
      // CLI
      if(3 > args || 0 == atoi(argv[2]))
      {
          printf("usage: program [-h | --help] | ip port\n");
          return 0;
      }
  
      char* ip = argv[1];
      uint16_t port = (uint16_t)atoi(argv[2]);
  
      // Transport
      uxrUDPTransport transport;
      uxrUDPPlatform udp_platform;
      if(!uxr_init_udp_transport(&transport, &udp_platform, ip, port))
      {
          printf("Error at create transport.\n");
          return 1;
      }
  
      // Session
      uxrSession session;
      uxr_init_session(&session, &transport.comm, 0xCCCCDDDD);
      if(!uxr_create_session(&session))
      {
          printf("Error at create session.\n");
          return 1;
      }
  
      // Synchronize with the Agent
      bool synchronized = false;
      do
      {
          synchronized = uxr_sync_session(&session, 1000);
  #ifdef WIN32
          printf("synchronized with time offset %-4I64d us\n", session.time_offset / 1000);
          Sleep(1);
  #else
          printf("synchronized with time offset %-4" PRId64 "us\n", session.time_offset / 1000);
          sleep(1);
  #endif
  
      } while (synchronized);
      
      // Delete resources
      uxr_delete_session(&session);
      uxr_close_udp_transport(&transport);
  
      return 0;
  }
  