The code is a little weird. There is no XLib event loop. It calls sleep(100) in a loop until it hits SIGINT. That will have high cpu usage for no reason.
It will not, even adding just a 1ms sleep in a loop will drop CPU usage to barely noticeable levels, 10 wakes a second is barely anything for any CPU from the past 3 decades.
Whether the CPU is busy because of a loop with a sleep depends on the ration of the sleep time and the time to perform the rest of one loop iteration. Doing stuff in a loop iteration that takes 1min and then adding a ms sleep will not drop CPU usage a measurable amount.
The question is about waiting, i.e. when you have no real work to do. If you have significant work to do then there is no point in sleeping until that work is done.