Maybe you already know this one, but the TLA language from Leslie Lamport and the associated tooling spring to mind. TLA was apparently an inspiration for the creators of Bluespec. IIRC there was a book on TLA, you can probably find it here https://lamport.azurewebsites.net/tla/tla.html
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https://lamport.azurewebsites.net/tla/tla.html