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A cheaper option is to use Event Bridge + Lambda + SQS. As in the Step Function solution Event Bridge triggers a Lambda every X minute (x<15), and the Lambda puts X*6 messages in the queue with increasing message timer values in multiple of 10 secs. You then configure the queue as event source for Lambda with a batch size of 1. The execution time might be more approximate than for Step Function, but the cost of this solution is ~ 1/30th of the Step Functions solution.
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Use EventBridge scheduler to invoke a Step Function state machine every minute. The state machine will invoke the lambda function in a loop with a 10 seconds delay between invocations.
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Thanks for this proposal. I've implemented this. Do I really need to set Lambda with a batch size of 1, what is the difference if don't set that?