In fact, what I do is just a POC, I follow the document
Writing R Extensions and
AOLserver C Module Example ,
R provide many numerical/stat function for C and FORTRAN program , maybe R was not thread-safe, but I "guess" the function call are thread-safe.
This is the first step, what I need is pass a tcl list to nsR, and do some plotting job and return the image without fork a new R process.