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Harel Statecharts are mentioned elsewhere in this thread, and I endorse them. IMO they're a really great way to model your design.

IIRC Quantum Leaps [Samek; also mentioned in this thread] is similar to statecharts.

I've used Rational Rhapsody for C++ and I think it's actually pretty good. But there be dragons there. UML alone is a tough sell to some engineering crowds, much less generating code from diagrams. Holy wars abounds.

While searching for related info to this post I discovered that W3 has a relevant specification [1]. But I suppose it makes sense, IBM is a player here and they love XML there.

[1] https://www.w3.org/TR/scxml/

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