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Rework memory allocation to heap based RAII objects. 

Remove the strict static memory allocation scheme in favour of placing objects on the heap at startup. This still keeps the requirements posed for modern, high performance embedded systems, but makes APIs a lot cleaner.
4 jobs from coninuation in 29 seconds
927d8ac5 927d8ac59a7e8de9a94ef273ade322c7506be513
Status Job ID Name Coverage
  Build
passed #3585
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  Test
failed #3586
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  Sanitizer
skipped #3588
run_address_sanitizer
skipped #3587
run_thread_sanitizer
 
Test run_tests 
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