Report Phoenix device alerts from the drivetrain

Phoenix 26.70.0-alpha-2 adds alerts for its devices, reported through
an AlertableCollection that user code registers devices with and calls
report() on each loop. This follows the pattern in CTRE's SwerveWithChoreo
example (CommandSwerveDrivetrain), keeping the devices behind the IO
layer: ModuleIO gains a no-op registerAlerts(), ModuleIOTalonFXBase
registers its drive TalonFX, steer TalonFX, and CANcoder, and Drive owns
a "Swerve" collection that it reports from periodic().

On a SystemCore robot controller these alerts go to MrcLib and show in
the Driver Station and NetworkTables dashboards. They do not reach the
AdvantageKit log, because WPILib's AlertDataJNI.getAlerts() lists only
WPILib-created alerts (issue #47, allwpilib#8731).

In simulation the alerts are a no-op. PhoenixAlert's Javadoc says so,
and disassembly of the sim builds (Windows swsim and hwsim, Linux
x86-64) shows the platform::Alert constructor storing handle 0 without
calling a backend, while the SystemCore build calls
MRC_Alert_CreateAlert. A 20 s sim run with ModuleIOSimTalonFX
temporarily swapped in confirmed it: Phoenix initialized, WPILib alerts
were logged under /RealOutputs/Alerts, and no Swerve group appeared.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

Author: nlaverdure

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -14,6 +14,7 @@
 import static org.wpilib.units.Units.*;
 
 import choreo.trajectory.SwerveSample;
+import com.ctre.phoenix6.alerts.AlertableCollection;
 import frc.lib.RobotMode;
 import frc.robot.Constants;
 import frc.robot.Constants.FeatureFlags;
@@ -59,6 +60,8 @@ public class Drive extends SubsystemBase {
           "Drive/gyroDisconnected",
           "Disconnected gyro, using kinematics as fallback.",
           Alert.Level.HIGH);
+  // Phoenix reports these alerts on a robot controller and treats them as a no-op elsewhere
+  private final AlertableCollection deviceAlerts = new AlertableCollection("Swerve");
 
   private final BooleanPublisher alignEncodersPub;
 
@@ -112,6 +115,9 @@ public Drive(
     modules[1] = new Module(frModuleIO, "FrontRight");
     modules[2] = new Module(blModuleIO, "BackLeft");
     modules[3] = new Module(brModuleIO, "BackRight");
+    for (var module : modules) {
+      module.registerAlerts(deviceAlerts);
+    }
 
     // Usage reporting for swerve template
     // TODO: update instance string to match the official 2027 AKit template when released.
@@ -209,6 +215,7 @@ public void periodic() {
     boolean gyroDisconnected = !gyroInputs.connected && Constants.currentMode != RobotMode.SIM;
     gyroDisconnectedAlert.set(gyroDisconnected);
     Logger.recordOutput("Faults/Drive/GyroDisconnected", gyroDisconnected);
+    deviceAlerts.report();
 
     // Profiling output
     if (FeatureFlags.PROFILING_ENABLED) {

src/main/java/frc/robot/subsystems/drive/Module.java

@@ -12,6 +12,7 @@
 
 import static frc.robot.subsystems.drive.DriveConstants.*;
 
+import com.ctre.phoenix6.alerts.AlertableCollection;
 import frc.robot.Constants.FeatureFlags;
 import org.littletonrobotics.junction.Logger;
 import org.wpilib.math.geometry.Rotation2d;
@@ -200,6 +201,11 @@ public double getSimCurrentDrawAmps() {
     return inputs.driveCurrentAmps + inputs.turnCurrentAmps;
   }
 
+  /** Registers the module's Phoenix device alerts with the given collection. */
+  public void registerAlerts(AlertableCollection alerts) {
+    io.registerAlerts(alerts);
+  }
+
   /** Sets the zero position of the turn axis to the current rotation */
   public void setTurnZero() {
     Rotation2d newTurnZero = inputs.turnZero.minus(inputs.turnPosition);

src/main/java/frc/robot/subsystems/drive/ModuleIO.java

@@ -7,6 +7,7 @@
 
 package frc.robot.subsystems.drive;
 
+import com.ctre.phoenix6.alerts.AlertableCollection;
 import org.littletonrobotics.junction.AutoLog;
 import org.wpilib.math.geometry.Rotation2d;
 
@@ -61,4 +62,7 @@ public default void setTurnPosition(Rotation2d rotation) {}
 
   /** Update the turn zero position of the turn absolute encoder */
   public default void setTurnZero(Rotation2d rotation) {}
+
+  /** Registers the module's Phoenix device alerts with the given collection. */
+  public default void registerAlerts(AlertableCollection alerts) {}
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXBase.java

@@ -14,6 +14,7 @@
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.alerts.AlertableCollection;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC;
@@ -194,4 +195,9 @@ public void setTurnZero(Rotation2d rotation) {
     cancoderConfig.MagnetSensor.MagnetOffset = rotation.getRotations();
     cancoder.getConfigurator().apply(cancoderConfig);
   }
+
+  @Override
+  public void registerAlerts(AlertableCollection alerts) {
+    alerts.withAlertable(driveTalon).withAlertable(turnTalon).withAlertable(cancoder);
+  }
 }