The usage of components brings significant help in development of real-time embedded systems. There have been a number of component frameworks developed for this purpose and some of them have already become well-established in this area. However, although the component frameworks share basic concepts and the general approach, they substantially differ in the range of supported features and maturity. This makes relatively difficult to select the right component framework and thus poses a significant obstacle in adoption of the component-based development for real-time embedded systems. To provide an overview, we present a survey in this paper, which illustrates distinguishing features of selected modern component-based frameworks for real-time embedded systems. The survey identifies features which are important for building systems from components in this area and compares these frameworks with respect to these features.