[sr-dev] [kamailio/kamailio] IPV6 Contact Parsed as V4 notation (#2742)

[chappo]

SIP Capture attached for two register attempts, one on UDP and the other on TCP. 

UDP = 
U 2001:8004:13c0:5fed:dd64:812e:f2cd:8bf6:45417 -> fd00:db8:deca::4:5060 #2718
REGISTER sip:voip.domain.com SIP/2.0.
Via: SIP/2.0/UDP 32.1.128.4:45417;rport;branch=z9hG4bKPjZ5fpsipsncRX35bosd-juQhhswwf2n.t.
Contact: <sip:83 at 32.1.128.4:45417;ob>.

TCP (Works) = 
T 2001:8004:13c0:5fed:dd64:812e:f2cd:8bf6:63053 -> fd00:db8:deca::4:5060 [AP] #4321
REGISTER sip:voip.domain.com;transport=tcp SIP/2.0.
Via: SIP/2.0/TCP [2001:8004:13c0:5fed:dd64:812e:f2cd:8bf6]:63053;rport;branch=z9hG4bKPjZyp0v51VSpi72vDLN0qA-rZBJv4FuMfG;alias.
Contact: <sip:83@[2001:8004:13c0:5fed:dd64:812e:f2cd:8bf6]:63053;transport=TCP;ob>;reg-id=1;+sip.instance="<urn:uuid:00000000-0000-0000-0000-0000f9855a1c>".



[SIP Capture.txt](https://github.com/kamailio/kamailio/files/6555068/SIP.Capture.txt)


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