Where should I start from?

Hello there.
I developed a camera based motion detection application in C++. Originally it sent data to their clients via MIDI. The current release works on a proprietary TCP based protocol. Now I want to move to UDP, and at this point I met OSC... it's pointless developing another proprietary UDP based protocol...
So the questions are:
- where should I begin from, to implement an UDP/OSC application?
- which already existing program should I use to test my application? I.e. I need an external application to receive and show me the data sent by my application.
Thanks for your attention.