QP is a family of lightweight software frameworks for building responsive and modular real-time embedded applications as systems of cooperating, event-driven active objects (actors). The QP family consists of QP/C, QP/C++, and QP-nano frameworks, which are all strictly quality controlled, superbly
... [More] documented, and commercially licensable.
The behavior of active objects is specified in QP by means of hierarchical state machines (UML statecharts). The frameworks support manual coding of UML state machines in C or C++ as well as automatic code generation by means of the free QM modeling tool.
See also http://sourceforge.net/projects/qpc [Less]