I have the same question as the OP, but for a different reason.
I have a very simple task. It basically sits on a message queue waiting for a command. Only one command will come. This command will block for a while due to IO calls. The command comes from a very high priority task that runs every 5 ms. This fast task is a/has state machine. So basically, the 5 ms task is delegating a job to the task that just waits on a message queue.
It gets complicated because I want the slow task to notify the fast task when it is done. Since the fast task is already reactive, it would be simple codewise, to make the slow task reactive. But the question is, how much overhead does this add? My slow task is about 20 lines of code or so. Does it make sense to make it reactive? This is for Integrity OS. How can I accurately measure the overhead?