We use the course book Modeling Embedded Systems and SoC's - Concurrency and Time in Models of Computation, A. Jantsch, Morgan Kaufmann, 2003.
The lecture slides will be published here as I get them ready. Some of them are from last year still and may change.
A popular tool for colored Petri nets is CPN which comes with a powerful state space analysis tool.
A long list of industrial use cases can be found at the Aarhus University web site.