> What if the instrumentation could be added on-the-fly?

This sounds for me that you might be interested in the application of aspects.
Would you like to apply aspect-oriented software development?

Examples:
http://research.msrg.utoronto.ca/ACC/
http://aspectc.org/


> It's also important that the extra instrumentation added does not change
> the line numbering otherwise it will be difficult for me to match either
> compiler errors or run-time assert line numbers with the original foo.c file
> which is the only file that I would be editing for development.
> Does this make any more sense now?

I imagine that the features you desire result in conflicting goals. I guess that
there are various challenges in a mapping from original source code to
adjusted/transformed target code. Are you looking for corresponding aspect
debuggers like the following tools?
- Bugdel
  http://www.csg.is.titech.ac.jp/projects/bugdel/index-e.shtml

- Aspect Oriented Debugging Architecture
  http://distrinet.cs.kuleuven.be/software/AODA/

- Wicca
  http://www1.cs.columbia.edu/~eaddy/wicca/index.htm

Regards,
Markus
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