if ((alarm_code_t)rt_exec == Alarm_HardLimit || (alarm_code_t)rt_exec == Alarm_SoftLimit || (alarm_code_t)rt_exec == Alarm_EStop) {
            system_set_exec_alarm(rt_exec);
            grbl.report.feedback_message((alarm_code_t)rt_exec == Alarm_EStop ? Message_EStop : Message_CriticalEvent);
            system_clear_exec_state_flag(EXEC_RESET); // Disable any existing reset
            while (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {
                // Block everything, except reset and status reports, until user issues reset or power
                // cycles. Hard limits typically occur while unattended or not paying attention. Gives
                // the user and a GUI time to do what is needed before resetting, like killing the
                // incoming stream. The same could be said about soft limits. While the position is not
                // lost, continued streaming could cause a serious crash if by chance it gets executed.
                if(bit_istrue(sys_rt_exec_state, EXEC_STATUS_REPORT)) {
                    system_clear_exec_state_flag(EXEC_STATUS_REPORT);
                    report_realtime_status();
                }

                grbl.on_execute_realtime(STATE_ESTOP);
            }
            system_clear_exec_alarm(); // Clear alarm
        }
    }