I suspect there is something, but it's likely too unique of an issue to yield a real market for a solution, which would probably be some sort of float valve tied to a couple of actuated valves.
You could perhaps simplify it slightly by having the hose just re-fill the rain barrel when it reaches a certain level, however this leaves you possibly with a half full barrel that will overflow if it rains.
The more I think about it, probably will go a different route. I have a Rainpoint timer that uses a moisture sensor. I could setup something that on a schedule waters from the barrels and then supplements from the spigot if the moisture is too low.
that seems like a good plan, as the same sprinkler system with your spigot at 60 to 80 psi will be very different from the rain barrel at low pressure going through it.
Drip emitters if they are pressure compensated usually work between 15 and 50 or so psi. But best in the lower range, I usually use a 25 psi regulator on my drip lines. Your barrel depending on height difference will only be a few psi. 1 ft of height is about .4 psi.It's for drip irrigation so hopefully the barrels will have enough pressure behind them. I know the spigot has to barely be on for it to do it's job. Still had to use a water hammer arrestor for when the auto timer stopped watering.
Drip emitters if they are pressure compensated usually work between 15 and 50 or so psi. But best in the lower range, I usually use a 25 psi regulator on my drip lines. Your barrel depending on height difference will only be a few psi. 1 ft of height is about .4 psi.
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With regards to sanitary water, I would want to be sure there is a siphon break on the source faucet and not want any chance of backflow from the water butt system to the the domestic water supply.
Water butt is the UK term for rain barrel and I loik it a lot </ Garth Algar voice>