#### Pre-Submission Checklist
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checkboxes that apply -->
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guidelines from above-->
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- [x] Commit message has the format required by CONTRIBUTING guide
- [x] Commits are split per component (core, individual modules, libs, utils, 
...)
- [x] Each component has a single commit (if not, squash them into one commit)
- [x] No commits to README files for modules (changes must be done to docbook 
files
in `doc/` subfolder, the README file is autogenerated)

#### Type Of Change
- [ ] Small bug fix (non-breaking change which fixes an issue)
- [x] New feature (non-breaking change which adds new functionality)
- [ ] Breaking change (fix or feature that would change existing functionality)

#### Checklist:
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checkboxes that apply -->
- [ ] PR should be backported to stable branches
- [x] Tested changes locally

#### Description
Support for the `connect` NG method has been added. This method is available in 
rtpengine starting from release mr13.2.1.1. 
https://rtpengine.readthedocs.io/en/latest/ng_control_protocol.html#connect-message
Method can be used to directly connect the media flow of two call parties 
without the need for a full offer/answer exchange. Call parties from two 
different calls (different call IDs) can also be connected.

You can view, comment on, or merge this pull request online at:

  https://github.com/kamailio/kamailio/pull/4493

-- Commit Summary --

  * rtpengine: add connect() command

-- File Changes --

    M src/modules/rtpengine/doc/rtpengine_admin.xml (30)
    M src/modules/rtpengine/rtpengine.c (72)
    M src/modules/rtpengine/rtpengine.h (1)

-- Patch Links --

https://github.com/kamailio/kamailio/pull/4493.patch
https://github.com/kamailio/kamailio/pull/4493.diff

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