Practical UML Statecharts in C/C++: Event-Driven Programming for Embedded Systems cover
Practical UML Statecharts in C/C++: Event-Driven Programming for Embedded Systems
by Miro Samek
ISBN: 0750687061
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erichocean · 2012-12-24 · Original thread
This book[1] seems to really help people (don't be put off by the title):

Practical UML Statecharts in C/C++: Event-Driven Programming for Embedded Systems

In particular, it discusses the main implementation strategies and why you'd want to use them. Also, the specific codebase described in the book is excellent. I use it all the time in implementing server software.

[1] http://www.amazon.com/Practical-UML-Statecharts-Second-Event...