- "Introduction to Computer Music"[0] by Nick Collins: very focused on audio programming for musical applications but you can easily extrapolate for other domains. Lots of pseudo-code algorithms are provided.
- "The Scientist and Engineer's Guide to Digital Signal Processing"[1] by Steven W. Smith: the bread and butter for everything concept related to DSP. Everything is explained in a crystal-clear fashion, lots of sample code to get you started with digital filters and analysis (although written in BASIC but easily translatable to C/C++ or even Python).
Also there is this one article "Real-time audio programming 101: time waits for nothing"[2] by Ross Bencina (creator of AudioMulch, Portaudio, etc.) about the basics concepts of real-time audio programming
[0] https://www.wiley.com/en-gb/Introduction+to+Computer+Music-p...
[2] http://www.rossbencina.com/code/real-time-audio-programming-...