App not relaunch from background but delegate is called didReceiveIncomingConnection twilio in ios

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I am working on a VoIP application. I have some problem that the app is not relaunching from background state (not coming to foreground state) but

(void)device:(TCDevice *)device didReceiveIncomingConnection:(TCConnection *)connection

is called.

I can post a local notification but it does not look good when calling.

I also want to know how all other VoIP apps handle calling in background. How do they relaunch the app in those applications like Skype and WhatsApp?

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