switch (rtAlarm) {
    case ExecAlarm::None:
        return;
    // System alarm. Everything has shutdown by something that has gone severely wrong. Report
    case ExecAlarm::HardLimit:
    case ExecAlarm::SoftLimit:
        sys.state = State::Alarm;  // Set system alarm state
        alarm_msg(rtAlarm);
        report_feedback_message(Message::CriticalEvent);
        protocol_disable_steppers();
        rtReset = false;  // Disable any existing reset
        do {
            // 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.
            pollChannels();  // Handle ^X realtime RESET command
        } while (!rtReset);
        break;
    default:
        sys.state = State::Alarm;  // Set system alarm state
        alarm_msg(rtAlarm);
        break;
}
rtAlarm = ExecAlarm::None;