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Yes. It uses long polling.
The pricing, based on the pricing page, is $0.40 for every 1,000,000 messages processed by the pipe (price varies by region).
On top of that you need to add the SQS API calls, any enrichment that you may do on the messages and the cost of the target.
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Thanks, @Uri! Would you say it is advisable to use the Pipe pattern then: SQS -> Express SFN -> Lambda, to avoid having Lambda running hot due to long polling for low message volume?
It is not your Lambda function that does the long polling. It is the Lambda service, and you do not pay for that. Your Lambda function is invoked only where there are messages in the queue.
If all you need to do is invoke a Lambda function, I would use the native SQS -> Lambda integration. No need for Pipes in that use case.
@Uri, Does Pipes use less SQS requests than lambda (as I understand it it uses 5 instances to poll)?