So assuming you've already launched media on the receiver from an iOS/Android/Web app, how can another web app join this activity and control the media? I noticed that the cast API has a 'JOIN_ACTIVITY' in it, but there's nothing that currently uses it. Nor do you know the activity's ID to join it..
This is similar to How to check if a ChromeCast Session is already in progress however, this answer does not help to connect to an existing application
However, using the javascript API, even if you know your app is running I can't find a way to connect to it without re-launching