Comment by dirbaio

(Embassy dev here)

You can get preemptive scheduling of async tasks with InterruptExecutor. You create one executor for each priority level, then spawn the tasks in the right one. The latency of the executor and the compiler-generated async state machines is predictable, so you can use Embassy for hard real-time work. See example: https://github.com/embassy-rs/embassy/blob/main/examples/nrf...

Additionally the executor has support for scheduling tasks by priority or deadline within a single priority level. (in latest git, will be in next crates.io release)