Hopefully the new tooling is helpful [ANN] AllocCheck.jl: Static code analysis to prove allocation-free behavior, and please open issues to help it improve. We are also targeting microcontrollers with hard real-time guarantees and we are using this to audit and enforce that all package code that we use (i.e. all SciML solver loops) are allocation-free and thus safe for these applications, and then using it in the end application itself. The genesis for this was actually to improve the workflows of the recent controls course we put together:
It also has a mode that checks for whether error paths are possible (again, because that’s not allowed on a control system). It’s not a battle-hardened checker yet but it’s something to start building off of and improving by good solid issues and examples.