sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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from collections.abc import Callable
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from openpilot.common.time_helpers import system_time_valid
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from openpilot.system.ui.widgets.scroller import NavScroller
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from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl, GreyBigButton
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from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog, BigConfirmationCircleButton
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
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class AlphaLongConfirmPage(NavScroller):
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def __init__(self, on_confirm: Callable[[], None]):
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super().__init__()
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accept = BigConfirmationCircleButton("enable alpha\nlongitudinal",
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gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
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lambda: self.dismiss(on_confirm))
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self._scroller.add_widgets([
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GreyBigButton("enabling alpha longitudinal", "scroll to continue",
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gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
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GreyBigButton("", "WARNING: alpha longitudinal control may disable Automatic Emergency Braking (AEB)"),
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GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
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GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
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GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),
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GreyBigButton("", "Changing this setting will restart openpilot if the car is powered on."),
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accept,
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])
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class DeveloperLayoutMici(NavScroller):
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def __init__(self):
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super().__init__()
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self._ssh_fetcher = SshKeyFetcher(ui_state.params)
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def github_username_callback(username: str):
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if username:
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self._ssh_keys_btn.set_value("Loading...")
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self._ssh_keys_btn.set_enabled(False)
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def on_response(error):
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self._ssh_keys_btn.set_enabled(True)
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if error is None:
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self._ssh_keys_btn.set_value(username)
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else:
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self._ssh_keys_btn.set_value("Not set")
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gui_app.push_widget(BigDialog("", error))
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self._ssh_fetcher.fetch(username, on_response)
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else:
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self._ssh_fetcher.clear()
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self._ssh_keys_btn.set_value("Not set")
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def ssh_keys_callback():
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github_username = ui_state.params.get("GithubUsername") or ""
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dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
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if not system_time_valid():
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dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
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gui_app.push_widget(dlg)
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return
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gui_app.push_widget(dlg)
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txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64)
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github_username = ui_state.params.get("GithubUsername") or ""
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self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
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self._ssh_keys_btn.set_click_callback(ssh_keys_callback)
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# adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
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# ******** Main Scroller ********
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self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
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self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
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self._joystick_toggle = BigToggle("joystick debug mode",
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initial_state=ui_state.params.get_bool("JoystickDebugMode"),
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toggle_callback=self._on_joystick_debug_mode)
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self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
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initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
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toggle_callback=self._on_long_maneuver_mode)
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self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
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initial_state=ui_state.params.get_bool("LateralManeuverMode"),
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toggle_callback=self._on_lat_maneuver_mode)
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self._alpha_long_toggle = BigToggle("alpha longitudinal",
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initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
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toggle_callback=self._on_alpha_long_enabled)
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self._debug_mode_toggle = BigParamControl("ui debug mode", "ShowDebugInfo",
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toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
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gui_app.set_show_fps(checked)))
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self._scroller.add_widgets([
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self._adb_toggle,
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self._ssh_toggle,
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self._ssh_keys_btn,
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self._joystick_toggle,
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self._long_maneuver_toggle,
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self._lat_maneuver_toggle,
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self._alpha_long_toggle,
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self._debug_mode_toggle,
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])
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# Toggle lists
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self._refresh_toggles = (
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("AdbEnabled", self._adb_toggle),
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("SshEnabled", self._ssh_toggle),
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("JoystickDebugMode", self._joystick_toggle),
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("LongitudinalManeuverMode", self._long_maneuver_toggle),
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("LateralManeuverMode", self._lat_maneuver_toggle),
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("AlphaLongitudinalEnabled", self._alpha_long_toggle),
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("ShowDebugInfo", self._debug_mode_toggle),
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)
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onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
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release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
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engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
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# Hide non-release toggles on release builds
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for item in release_blocked_toggles:
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item.set_visible(not ui_state.is_release)
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# Disable toggles that require offroad
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for item in onroad_blocked_toggles:
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item.set_enabled(lambda: ui_state.is_offroad())
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# Disable toggles that require not engaged
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for item in engaged_blocked_toggles:
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item.set_enabled(lambda: not ui_state.engaged)
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# Set initial state
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if ui_state.params.get_bool("ShowDebugInfo"):
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gui_app.set_show_touches(True)
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gui_app.set_show_fps(True)
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ui_state.add_offroad_transition_callback(self._update_toggles)
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def _update_state(self):
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super()._update_state()
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self._ssh_fetcher.update()
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def show_event(self):
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super().show_event()
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self._update_toggles()
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def _update_toggles(self):
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ui_state.update_params()
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# CP gating
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if ui_state.CP is not None:
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alpha_avail = ui_state.CP.alphaLongitudinalAvailable
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if not alpha_avail or ui_state.is_release:
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self._alpha_long_toggle.set_visible(False)
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ui_state.params.remove("AlphaLongitudinalEnabled")
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else:
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self._alpha_long_toggle.set_visible(True)
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long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
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self._long_maneuver_toggle.set_enabled(long_man_enabled)
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self._lat_maneuver_toggle.set_enabled(ui_state.is_offroad())
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else:
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self._long_maneuver_toggle.set_enabled(False)
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self._lat_maneuver_toggle.set_enabled(False)
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self._alpha_long_toggle.set_visible(False)
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# Refresh toggles from params to mirror external changes
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for key, item in self._refresh_toggles:
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item.set_checked(ui_state.params.get_bool(key))
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def _on_joystick_debug_mode(self, state: bool):
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ui_state.params.put_bool("JoystickDebugMode", state, block=True)
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ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
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self._long_maneuver_toggle.set_checked(False)
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ui_state.params.put_bool("LateralManeuverMode", False, block=True)
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self._lat_maneuver_toggle.set_checked(False)
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def _on_long_maneuver_mode(self, state: bool):
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ui_state.params.put_bool("LongitudinalManeuverMode", state, block=True)
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ui_state.params.put_bool("JoystickDebugMode", False, block=True)
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self._joystick_toggle.set_checked(False)
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ui_state.params.put_bool("LateralManeuverMode", False, block=True)
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self._lat_maneuver_toggle.set_checked(False)
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restart_needed_callback()
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def _on_lat_maneuver_mode(self, state: bool):
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ui_state.params.put_bool("LateralManeuverMode", state, block=True)
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ui_state.params.put_bool("ExperimentalMode", False, block=True)
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ui_state.params.put_bool("JoystickDebugMode", False, block=True)
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self._joystick_toggle.set_checked(False)
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ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
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self._long_maneuver_toggle.set_checked(False)
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restart_needed_callback()
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def _on_alpha_long_enabled(self, state: bool):
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def do_toggle(_state: bool):
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ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)
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restart_needed_callback()
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self._update_toggles()
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if state:
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# Don't show enabled state until confirm
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self._alpha_long_toggle.set_checked(False)
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gui_app.push_widget(AlphaLongConfirmPage(lambda: do_toggle(True)))
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else:
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do_toggle(False)
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