How to work with LinuxCNC for EtherCAT Servo drivers?

I am currently controlling 3 EtherCAT servo drivers via SOEM. I want to run some G-code with my system. I am searching a G-code interpreter and trajectory planner in C++. Then I found LinuxCNC. I read some document and video. I have some questions below.

1. Are there G-code interpreter and trajectory planner API I can call for my application from LinuxCNC?
2. Is there a way to connect my EtherCAT servo to Linuxcnc?

I prefer to use API for my application. Please advise. Thank you guys.  

 

LinuxCNC is a fully-fledged CNC controller.EtherCAT Cia402 is supported.I don’t think you can extract any parts for your purpose.It wouldn’t make any sense anyway.

Thank you for the clarification. What can I find the EtherCAT setup instruction? I only see an example for stepper drive. The reason I want to use API, because my system is not only doing CNC motion, but it may include other sequence. I am not familiar with LinuxCNC enough.

I think the best way is to have linuxcnc at the centre.
For custom control you write a hal component
that takes signals in and gives signals out 
with your control algorithm.

The instructions to install ethercat are here:
forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step

We use an xml file to define PDOs and map to linuxcnc pins but its nothing like twincat stuff.

I've been working on a custom ISO that installs ethercat and tunes the kernel but its slow going.