qm

QM is a freeware, cross-platform, graphical modeling tool for Model Driven Development (MDD) of embedded systems software based on the QP™ active object frameworks.
QM has the following main goals:
- to help you decompose your software into event-driven components called active objects.

- to help you graphically elaborate the hierarchical state machines ((UML statecharts) associated with these active objects.
- to automatically generate production-quality code that is traceable from your design.