Let the phone reproduce the "allow this computer to be used for debugging" confirmation window

We habitually use the real machine when debugging an Android app, because the virtual phone starts up too slowly, but then another problem arises: each time the phone is connected to the computer via a data cable:

In order to debug Android program no longer pop up this annoying window, we can first click on the red circle set of options, and then click on the "OK" button, hehe, then the problem comes again: when the phone again on the other computer debugging, The window will not pop up and every time the debugger will not use the phone debugging, then we need to let the phone pop up this window, then how to let the phone pop the window again?

Let the phone reproduce the "allow this computer to be used for debugging" confirmation window