The increasing integration of intermittent renewable energy sources has significantly intensified the demand for flexible resources. In this context, concentrating solar power (CSP) stands poised to play a critical role due to its controllable and dispatchable capabilities. However, the dearth of guidelines for modeling CSP in power system optimal planning and operation hinders accurate characterization of CSP's operational properties. This paper proposes a novel modeling framework to guide the representation of CSP in different planning and operation scenarios. Firstly, multi-type CSP models are summarized and compared thoroughly in terms of application scenarios and levels of detail. Subsequently, the state-of-the-art development of optimal planning and operation for CSP in high renewable energy penetrated power systems are reviewed from three topics: topological structure and optimal sizing, system expansion planning, and optimal operation scheduling. Next, the CSP modeling approach applicable to the specific research problem under each topic is clarified. It is indicated that energy flow models are the predominant modeling approach for CSP. Finally, recommendations for future research are proposed to pave the way for further advancement in CSP modeling and optimization.