you can use a SIP server like freepbx or fusionpbx, i have tested both, verry good
audio is ok, pressing #1 during a call opens the door…
but, if you have multipe androids, early video, video before pickup doesnt work on groups, only works when you call a single extension, so if you have an indoor panel, you dont see video before you pickup
alternative road is to follow this project, its now in alpha stage , and a new integration with SIP lovelace card is coming verry soon, that should resolve video issues… so its possible to pickup a call from HA!! and offcourse you can create cards / buttons for rtsp video of or open doors
a new release will be published soon, i think this week, with a new custom component and a card
keep an eye on this page : GitHub - TECH7Fox/asterisk-hass-addons: Asterisk add-on for Home Assistant
will be updated with readme
or join discord
nice things are coming!