It sounds elegant, but I’m not convinced there’s a benefit to a model of abstractions of abstractions like this unless it’s done at the language level. In practice, I’ve only seen this produce a web of race conditions, performance issues, and system complexity. My experience is anecdotal.

I've seen it work well once, but others struggled to contribute to it because it was so complicated and it added little benefit to the usual busy loop approach. So I'm in the same boat as you.

This makes it hard to reason about the overall capacity of the system (in terms of numbers of sensors and actuators). You will always end up uncertain whether you've ever really evaluated the "full load" condition, even if you formally test it in ways that say you have.