Moving app from background to foreground without user interaction is pain in the ass. Sorry, don't have a solution, just want to share some information:
I asked the same question here and posted a bounty on it and got no good response: Show some UI from background in audio player or VOIP app on iOS
At some moment I found a solution with the help of another person. It was based on usage of GSEvent (sending clicks to UI). You can look following questions. However, as I know, in iOS 7 these API became protected by entitlement. So, this method is dead (most likely).
Using GraphicsServices.h/GSEvent as well as compiling CLI iPhone tools with Xcode
Use GSEvent to send touch event,but it's invalid.