Tomatoes & Peppers: Worm eating tomatoes, 1 by Ruth

Ruth wrote:
I found some kind of worm in the middle of my tomato stem. I brought it home to take a picture of but in the process, the little bugger must have fallen out. He was about 3/4 of an inch long, tan with stripes and he was drilling out the stem of my tomato. Can anyone tell from the picture what it was? I have more than one tomato with droopy leaves and I'm inclined to think those also have a worm on the inside of the stem. What is it and how do I get rid of it?