Well written, using language easily understood by the average technical reader with an interest in the field ( unlike many engineering tomes in my experience ). Also unlike many texts, proofreading and editing are skilled and thorough. Shapiro ackowledges in the preface to the first edition the roles of his co-author sons as "militant proponents of the clearly expressed thought". The success of that effort is obvious.
A very balanced presentation with generous references to actual experience, practical examples, some theory, and lots of photos and illustrations. The authors' subtle humor makes the normally dry genre very readable.
I was disappointed learning it is currently out of print and am hopeful of a future reprinting so I won't have to keep borrowing my boss' copy !