I have created a client-server model and all steps seems to go fine until when the client calls the function wolfSSL_connect().

First I want to say that on the CLIENT code I do the follow steps without having any error!
############################################################################
        wolfSSL_Init();
    WOLFSSL_CTX* ctx;
   
    /* Create and initialize WOLFSSL_CTX structure */
    if ( (ctx = wolfSSL_CTX_new(wolfTLSv1_client_method())) == NULL){
        print("SSL_CTX_new error.\r\n");
    }

        //ca_cert is an array that has the ca_cert file from the finished_src/echoclient example.  I do not have filesystem
        cert_size= sizeof(ca_cert);

        if (wolfSSL_CTX_load_verify_buffer(ctx,ca_cert,cert_size,1) != SSL_SUCCESS) {
        print("Error loading ./ca-cert.pem, please check the file.\r\n");
    }
       
        WOLFSSL* ssl;
   
    if( (ssl = wolfSSL_new(ctx)) == NULL) {
        print("Unable to create SSL Object\r\n");
    }

         if (wolfSSL_set_fd(ssl, socket_fd) != SSL_SUCCESS)
         print("SSL_set Object failed\r\n");

############################################################################

On the SERVER code I have the follow steps again without having any errors!
############################################################################

       wolfSSL_Init();    // Initialize wolfSSL
       WOLFSSL_CTX* ctx;

       /* Create and initialize WOLFSSL_CTX structure */
    if ( (ctx = wolfSSL_CTX_new(wolfTLSv1_server_method())) == NULL){
        print("SSL_CTX_new error.\r\n");
    }
   
       //Again here ca_cert serv_cert and serv_key are arrays that have the files included in finished_src/echoserver example
       cl_cert_size= sizeof(ca_cert);
       serv_cert_size= sizeof(serv_cert);
       serv_key_size= sizeof(serv_key);

    !!!!!!!HERE I DO NOT UNDERSTAND WHY WE HAVE TO LOAD "ca_sert" ON THE SERVER SIDE!!!!!!!!!!!!
    These will be used to verify the server we connect to */   
    if (wolfSSL_CTX_load_verify_buffer(ctx,ca_cert,cl_cert_size,1) != SSL_SUCCESS) {
        print("Error loading ./ca-cert.pem, please check the file.\r\n");
    }

        /* Load server certificate into WOLFSSL_CTX */
    if (wolfSSL_CTX_use_certificate_buffer(ctx,serv_cert,serv_cert_size,1) != SSL_SUCCESS) {
       print("Error loading ./server-cert.pem, please check the file.\r\n");
       //exit(EXIT_FAILURE);
    }

        if (wolfSSL_CTX_use_PrivateKey_buffer(ctx,serv_key,serv_key_size, SSL_FILETYPE_PEM) != SSL_SUCCESS) {
       printf("Error loading ./server-key.pem, please check the file.\r\n");
       //exit(EXIT_FAILURE);
    }

         WOLFSSL* ssl;

         /* Create WOLFSSL Object */
        if( (ssl = wolfSSL_new(ctx)) == NULL) {
           print("Unable to create SSL object\n");
        }

        if (wolfSSL_set_fd(ssl, fd_current) != SSL_SUCCESS)
                print("SSL_set Object failed\r\n");

############################################################################

Moreover I did not define WOLFSSL_DTLS

On function EmbedReceive I added the following line:
print("RECV_FUNCTION\r\n--------------------\r\nData received : %s  \r\nBytes Received %d\r\n--------------------\r\n",buf,sz);

after

recvd = RECV_FUNCTION(sd, (char *)buf, sz, 0);

so to print the data receive and the bytes received.

On function EmbedSend I added another line for data sent and bytes.

The message that client and server changed during the handshake are as I show below

-------------------CLIENT SIDE-------------------------------###

Trying to establish SSL connection                                                               

1. CONNECT BEGIN SEND CLIENT HELLO                   
SEND_FUNCTION                                                                       
--------------------                                                                         
Data send :áa                                                                           
Bytes Send : 64                                                                           
--------------------
1. CONNECT BEGIN SEND CLIENT HELLO COMPLETED

2. CLIENT HELLO SENT
RECV_FUNCTION
--------------------
Data received :
Bytes Received 5
--------------------
RECV_FUNCTION
--------------------
Data received :
Bytes Received 74
--------------------
Do Hand Shake Msg ret 0
RECV_FUNCTION
--------------------
Data received :
Bytes Received 5
--------------------
RECV_FUNCTION
--------------------
Data received :

Bytes Received 546
--------------------
Do Hand Shake Msg ret -155

FATAL ERROR

SSL_connect failed

----------------------------SERVER SIDE----------------------------------------
Waiting to establish SSL connection

1. ACCEPT BEGIN : CLIENT HELLO
RECV_FUNCTION
--------------------
Data received :
Bytes Received 5
--------------------
RECV_FUNCTION
--------------------
Data received :
Bytes Received 59
--------------------

1. CLIENT HELLO MESSAGE DONE

2. ACCEPT CLIENT HELLO DONE
2. ACCEPT CLIENT HELLO DONE COMPLETED

3. HELLO VERIFY SENT
3. HELLO VERIFY SENT COMPLETED

4. ACCEPT FIRST REPLY DONE
SEND_FUNCTION
--------------------
Data send :áa
Bytes Send : 79
--------------------
4. ACCEPT FIRST REPLY DONE COMPLETED

5. SERVER HELLO SENT
SEND_FUNCTION
--------------------
Data send :áa
Bytes Send : 551
--------------------
5. SERVER HELLO SENT DONE COMPLETED

6. SEND SERVER KEY EXCHANGE
6. SEND SERVER KEY EXCHANGE COMPLETED

7. SEND CERTIFICATE REQUEST
7. SEND CERTIFICATE REQUEST DONE

8. CERTIFICATE REQUEST SENT
SEND_FUNCTION
--------------------
Data send :áa
Bytes Send : 9
--------------------
8. CERTIFICATE REQUEST SENT COMPLETED

9. SERVER HELLO DONE
RECV_FUNCTION
--------------------
Data received :
Bytes Received 5
--------------------
SSL_accept failed

The num error that I get on the client side is -155(ASN_SIG_CONFIRM_E)

and on the server side is -208(SOCKET_ERROR_E).

Any help?