\begin{tikzpicture}

    \draw (-1,1.5)  node[rotate=90] (systemc) {\textsf{\large SystemC}};
    \draw[dashed] (-1,0) -- (9,0);
    \draw (-1,-2) node[rotate=90] (jtlm) {\textsf{\large jTLM}};

    % SystemC
    \tline{A}{2.1};
    \tcaption{A}{A};
    \tline{B}{1};
    \tcaption{B}{B};
    \ttimeline{A}{5};
    \ttimeline{B}{5};

    % jTLM
    \tline{P}{-1.5};
    \tcaption{P}{P};
    \tline{Q}{-2.6};
    \tcaption{Q}{Q};
    \ttimeline{P}{5};
    \ttimeline{Q}{5};
    \ttick{A};
    \ttextU{A}{f()};
    \tskiptext{A}{2}{\texttt{\scriptsize wait(20)}};
    \ttick{A};
    \tskip{A}{1};
    \ttick{A};
    \ttick{B}
    \tskip{B}{1};
    \ttick{B};
    \tskip{B}{1};
    \ttick{B};
    \tskip{B}{2};
    \ttick{B};
    \ttick{P}
    \ttextU{P}{g()};
    \tskiptext{P}{2}{\scriptsize awaitTime}
    \ttick{P};
    \tbox{P}{1.5}{h()};

    % just so that the final picture looks pretty
    \tbox{Q}{1.3}{i()};
    \tskip{Q}{1};
    \ttick{Q};
    \tskip{Q}{.5};
    \tbox{Q}{2}{j()};

\end{tikzpicture}

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