How can I send a Firebase Cloud Messaging notification without use the Firebase Console?

Firebase Cloud Messaging has a server-side APIs that you can call to send messages. See https://firebase.google.com/docs/cloud-messaging/server.

Sending a message can be as simple as using curl to call a HTTP end-point. See https://firebase.google.com/docs/cloud-messaging/server#implementing-http-connection-server-protocol

curl -X POST --header "Authorization: key=<API_ACCESS_KEY>" \
    --Header "Content-Type: application/json" \
    https://fcm.googleapis.com/fcm/send \
    -d "{\"to\":\"<YOUR_DEVICE_ID_TOKEN>\",\"notification\":{\"title\":\"Hello\",\"body\":\"Yellow\"}}"

This works using CURL

function sendGCM($message, $id) {


    $url = 'https://fcm.googleapis.com/fcm/send';

    $fields = array (
            'registration_ids' => array (
                    $id
            ),
            'data' => array (
                    "message" => $message
            )
    );
    $fields = json_encode ( $fields );

    $headers = array (
            'Authorization: key=' . "YOUR_KEY_HERE",
            'Content-Type: application/json'
    );

    $ch = curl_init ();
    curl_setopt ( $ch, CURLOPT_URL, $url );
    curl_setopt ( $ch, CURLOPT_POST, true );
    curl_setopt ( $ch, CURLOPT_HTTPHEADER, $headers );
    curl_setopt ( $ch, CURLOPT_RETURNTRANSFER, true );
    curl_setopt ( $ch, CURLOPT_POSTFIELDS, $fields );

    $result = curl_exec ( $ch );
    echo $result;
    curl_close ( $ch );
}

?>

$message is your message to send to the device

$id is the devices registration token

YOUR_KEY_HERE is your Server API Key (or Legacy Server API Key)

Use a service api.

URL: https://fcm.googleapis.com/fcm/send

Method Type: POST

Headers:

Content-Type: application/json
Authorization: key=your api key

Body/Payload:

{ "notification": {
    "title": "Your Title",
    "text": "Your Text",
     "click_action": "OPEN_ACTIVITY_1" // should match to your intent filter
  },
    "data": {
    "keyname": "any value " //you can get this data as extras in your activity and this data is optional
    },
  "to" : "to_id(firebase refreshedToken)"
} 

And with this in your app you can add below code in your activity to be called:

<intent-filter>
    <action android:name="OPEN_ACTIVITY_1" />
    <category android:name="android.intent.category.DEFAULT" />
</intent-filter>

Also check the answer on Firebase onMessageReceived not called when app in background