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Asterisk developer's documentation :: Codename Pineapple
Chan_SIP3:: Overview
In the SIP channel, there's a list of active SIP dialogs, which includes all of these when they are active. "sip show channels" in the CLI will show most of these, excluding subscriptions which are shown by "sip show subscriptions"
sipsock_read sends the packet to handle_request(), that parses a bit more. if it's a response to an outbound request, it's sent to handle_response(). If it is a request, handle_request sends it to one of a list of functions depending on the request type - INVITE, OPTIONS, REFER, BYE, CANCEL etc sipsock_read locks the ast_channel if it exists (an active call) and unlocks it after we have processed the SIP message.
A new INVITE is sent to handle_request_invite(), that will end up starting a new channel in the PBX, the new channel after that executing in a separate channel thread. This is an incoming "call". When the call is answered, either by a bridged channel or the PBX itself the sip_answer() function is called.
The actual media - Video or Audio - is mostly handled by the RTP subsystem in rtp.c
For requests and responses, we store them in a structure called sip_request and process them. The matching between a response or a new request and an existing dialog is done in match_or_create_dialog().