I know that, at different times, NASA has used Forth[1] and Lisp[2] in some of their space applications. Both of these languages offer REPLs that generally accelerate the debugging process, and while your "average" Lisp might be unsuitable for hard real-time applications (due to the presence of a garbage collector, usually without the hard real-time constraints that you can get out of garbage collectors with extreme…
This is fascinating to me. Do you have any pointers to information/research/projects focused on hard real-time garbage collection? A Lisp with hard real-time garbage collection (even if Herculean to implement) would be fantastic.