oRTP
0.24.0
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see ortp.h documentation.
see the rtpsession.h documentation.
see the payloadtype.h documentation.
see the telephonyevents.h documentation. To get informed about incoming telephone-event you can register a callback using rtp_session_signal_connect() or by registering an event queue using rtp_session_register_event_queue().
see the sessionset.h documentation.
The parsing api is defined in rtcp.h (not yet documented).
oRTP comes with a set of examples in src/tests.