with this method, using SYSTEM_UI_FLAG_IMMERSIVE_STICKY the full screen come back with one tap without any implementation. Just copy past this method below and call it where you want in your activity. More details here
private void hideSystemUI() {
getWindow().getDecorView().setSystemUiVisibility(
View.SYSTEM_UI_FLAG_IMMERSIVE
// Set the content to appear under the system bars so that the
// content doesn't resize when the system bars hide and show.
| View.SYSTEM_UI_FLAG_LAYOUT_STABLE
| View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
// Hide the nav bar and status bar
| View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY
| View.SYSTEM_UI_FLAG_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_FULLSCREEN);
}