How to show heads-up notification instead of full screen intent while the screen is not locked on Android

Question

I'm trying to make persistent heads-up notifications with full-screen intent same as the Messenger app.

Messenger behavior:

• An app is showing: show heads-up
• At home screen, not showing any app and not locked: show heads-up
• When locked: show full-screen intent

My behavior:

• An app is showing: show heads-up
• At home screen, not showing any app and not locked: show full-screen intent
• When locked: show full-screen intent

My code:

    val notificationBuilder: NotificationCompat.Builder = NotificationCompat.Builder(context, "my_channel_id")
            .setSmallIcon(R.drawable.ic_video)
            .setContentTitle("Full Screen Notification")
            .setContentText("Notification Content Text")
            .setPriority(NotificationCompat.PRIORITY_HIGH)
            .setCategory(NotificationCompat.CATEGORY_CALL)
            .setDefaults(NotificationCompat.DEFAULT_ALL)
            .setFullScreenIntent(getActivityPendingIntent(notificationId, data), true)

    val notificationManager = NotificationManagerCompat.from(context)
    notificationManager.notify(12345, notificationBuilder.build())

How to show heads-up notifications instead of full-screen intent at home screen like Messenger?

Reference: setFullScreenIntent