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I also really enjoyed the book by my former professor:

Design Methods for Reactive Systems: Yourdon, Statemate and the UML

by Roel Wieringa, Morgan-Kaufmann Publishers, 2003

This is all about specifying reactive systems though, not about how they are programmed.

In the case of STATEMATE, the designs could be executed directly and there was also tooling to generate compile-able code (Ada/C). Pretty impressive!