I partially implemented the protocol in Java for a GWT / reverse AJAX proof of concept. I haven't looked at the code posde suggested so I'm not sure it will offer anything different from that, but I'd be happy to share it if another implementation would be helpful to look at.
The wiki is a good starting point, but to be honest most of what I learned of the protocol came from running through the C++ code. You mentioned that C++ is not a strong suit, but you'll still probably find reading through some of that code to be helpful (especially that in the DCE folder). Just my 2 cents