What was the state chart embedded book you mentioned?
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Samek's "Practical UML Statecharts in C/C++: Event-Driven Programming for Embedded Systems"https://amzn.to/2J23Xzz
End of conversation
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You're dead-on re "verifying code is a lot harder". The reason I advocate tools like TLA+ and Alloy is because it's so much easier to validate specs than code.
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