A library that hides the complexity of using the SIP protocol for mutlimedia session establishement https://savannah.nongnu.org/projects/exosip
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libeXosip2

eXosip is a library that hides the complexity of using the SIP protocol for multimedia session establishement. This protocol is mainly to be used by VoIP telephony applications (endpoints or conference server) but might be also usefull for any application that wish to establish sessions like multiplayer games.