botnana-api-rs VS linux-embedded-hal

I provide systems with xenomai and etherlab installed and integrated with my motion system to local machine builders in Taiwan. This motion system is in Rust and run in real-time. But because most machine builders do not use Rust, also do not want to know real-time system either, I do not reveal the Rust API of this real-time system, instead I provide a client library for them. This client library is also written in Rust, but works as a C library. You can find it here and here 。In order to provide more flexibility, I also embedded a Forth language interpreter in the real-time system, so that I can build something like CNC. This interpreter is also developed in Rust.

Makes sense. The EtherCAT master component can be loaded as a kernel module (for Etherlab), which I think is somewhat independent of the user code. The rust code interfaces with the driver through syscalls. There is some discussion about Rust with PREEMPT_RT here https://github.com/rust-embedded/linux-embedded-hal/issues/45 but it looks like it is still open.