Schedule a single-threaded repeating runnable in java, but skip the current run if previous run is not finished

I think what you want is for the long-running task itself to not run in the ScheduledExecutorService itself, but in a background thread. Then the fixed-rate task will always complete quickly, since it is only used for checking whether to start the actual task in the background (or not, if it's still running from last time).

ScheduledExecutorService executorService = Executors.newScheduledThreadPool(1);
final Runnable actualTask = null;

executorService.scheduleAtFixedRate(new Runnable() {
    private final ExecutorService executor = Executors.newSingleThreadExecutor();
    private Future<?> lastExecution;
    @Override
    public void run() {
        if (lastExecution != null && !lastExecution.isDone()) {
            return;
        }
        lastExecution = executor.submit(actualTask);
    }
}, 10, 10, TimeUnit.MINUTES);