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Internet of things (IoT) is pushing the integration of physical and virtual worlds. Sensor devices provide rich sensory information to context-aware services. Actuators implement in the physical world application needs. The role of software is increasing as more and more resources become virtualized and software-defined. Smart environment is an emerging concept that has the potential to address many of the humanity problems. In this context, what are the promising tools for building the smart environments of the future? This paper provides a review of platforms, middleware, and frameworks that can help in this big challenge, discussing their architectures, service life-cycling, digital twins, cloud-based operation, virtualization, security, privacy, communication model, support for AI and machine learning, among other aspects. The proposed revision innovates by employing previous work on future Internet key enablers …