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I guess the conceptual overview wiki page is a good starting point. The master xmlrpc API and slave xmlrpc API and parameter xmlrpc API pages should provide a hopefully complete list of xmlrpc functions that are implemented by the core and that must be implemented (slave api) by a node.

For setting up subscriptions and publications and accessing parameters, xmlrpc will be required. The actual communication on the topics then uses a different binary format. Have a look at the msg wiki page for at least some information. For a really generic implementation of ros in C, you will have to implement a message generator that translates msg files to c files that contain code for serializing and deserializing that message. The serialized message format is actually pretty simple. Best if you have a look at the generated files for C++ or Python to find out more information.