diff --git a/TFT/src/User/API/Gcode/gcode.c b/TFT/src/User/API/Gcode/gcode.c
index 6694d5cc8f..21bc4a7057 100644
--- a/TFT/src/User/API/Gcode/gcode.c
+++ b/TFT/src/User/API/Gcode/gcode.c
@@ -3,11 +3,6 @@
 
 REQUEST_COMMAND_INFO requestCommandInfo = {0};
 
-bool isWaitingResponse(void)
-{
-  return (!requestCommandInfo.done);
-}
-
 bool requestCommandInfoIsRunning(void)
 {
   return (requestCommandInfo.inWaitResponse || requestCommandInfo.inResponse);
@@ -22,6 +17,11 @@ void clearRequestCommandInfo(void)
   }
 }
 
+static void waitForResponse(void)
+{
+  TASK_LOOP_WHILE(!requestCommandInfo.done)
+}
+
 static void resetRequestCommandInfo(
   const char * string_start,   // The magic to identify the start
   const char * string_stop,    // The magic to identify the stop
@@ -51,7 +51,7 @@ static void resetRequestCommandInfo(
   if (string_error2)
     requestCommandInfo.error_num = 3;
 
-  loopProcessToCondition(&isNotEmptyCmdQueue);  // wait for the communication to be clean before requestCommand
+  TASK_LOOP_WHILE(isNotEmptyCmdQueue())  // wait for the communication to be clean
 
   requestCommandInfo.stream_handler = NULL;
   requestCommandInfo.inWaitResponse = true;
@@ -81,7 +81,7 @@ void detectAdvancedOk(void)
   mustStoreCmd("M220\n");
 
   // Wait for response
-  loopProcessToCondition(&isWaitingResponse);
+  waitForResponse();
 
   while (requestCommandInfo.cmd_rev_buf[cmd_index] != '\0')
   {
@@ -117,9 +117,7 @@ bool request_M21(void)
 
   mustStoreCmd((infoMachineSettings.multiVolume == ENABLED) ? ((infoFile.onboardSource == BOARD_SD) ? "M21 S\n" : "M21 U\n") : "M21\n");
 
-  // Wait for response
-  loopProcessToCondition(&isWaitingResponse);
-
+  waitForResponse();
   clearRequestCommandInfo();
 
   // Check reponse
@@ -139,9 +137,7 @@ char * request_M20(void)
   else
     mustStoreCmd("M20\n");
 
-  // Wait for response
-  loopProcessToCondition(&isWaitingResponse);
-
+  waitForResponse();
   //clearRequestCommandInfo();  // shall be call after copying the buffer ...
   return requestCommandInfo.cmd_rev_buf;
 }
@@ -165,9 +161,7 @@ char * request_M33(const char * filename)
   else
     mustStoreCmd("M33 %s\n", filename);
 
-  // Wait for response
-  loopProcessToCondition(&isWaitingResponse);
-
+  waitForResponse();
   //clearRequestCommandInfo();  // shall be call after copying the buffer
   return requestCommandInfo.cmd_rev_buf;
 }
@@ -217,9 +211,7 @@ long request_M23_M36(const char * filename)
     sizeTag = "size\":";  // reprap firmware reports size JSON
   }
 
-  // Wait for response
-  loopProcessToCondition(&isWaitingResponse);
-
+  waitForResponse();
   if (requestCommandInfo.inError)
   {
     clearRequestCommandInfo();
@@ -305,7 +297,7 @@ void request_M98(const char * filename)
   rrfStatusQueryFast();
 
   // Wait for macro to complete
-  loopProcessToCondition(&rrfStatusIsBusy);
+  TASK_LOOP_WHILE(rrfStatusIsBusy())
 
   rrfStatusQueryNormal();
 }
@@ -318,5 +310,5 @@ void request_M20_rrf(const char * nextdir, bool with_ts, FP_STREAM_HANDLER handl
 
   mustStoreCmd("M20 S%d P\"/%s\"\n", with_ts ? 3 : 2, nextdir);
 
-  loopProcessToCondition(&isWaitingResponse);
+  waitForResponse();
 }
diff --git a/TFT/src/User/API/Gcode/gcode.h b/TFT/src/User/API/Gcode/gcode.h
index 14ff436895..10d5955e9a 100644
--- a/TFT/src/User/API/Gcode/gcode.h
+++ b/TFT/src/User/API/Gcode/gcode.h
@@ -32,7 +32,6 @@ typedef struct
 
 extern REQUEST_COMMAND_INFO requestCommandInfo;
 
-bool isWaitingResponse(void);  // condition callback for loopProcessToCondition()
 bool requestCommandInfoIsRunning(void);
 void clearRequestCommandInfo(void);
 
diff --git a/TFT/src/User/API/Printing.c b/TFT/src/User/API/Printing.c
index e7506ec2f7..8dbf16e6d7 100644
--- a/TFT/src/User/API/Printing.c
+++ b/TFT/src/User/API/Printing.c
@@ -81,13 +81,7 @@ void abortAndTerminate(void)
 
   if (infoMachineSettings.firmwareType != FW_REPRAPFW)
   {
-    // clear the command queue and send the M524 gcode immediately if there is an already pending gcode waiting for an ACK message.
-    // Otherwise, store the gcode on command queue to send it waiting for its related ACK message
-    //
-    if (isPendingCmd())
-      sendEmergencyCmd("M524\n");
-    else
-      mustStoreCmd("M524\n");
+    sendEmergencyCmd("M524\n");
   }
   else  // if RepRap
   {
@@ -632,7 +626,9 @@ bool pausePrint(bool isPause, PAUSE_TYPE pauseType)
     case FS_TFT_SD:
     case FS_TFT_USB:
       if (isPause == true && pauseType == PAUSE_M0)
-        loopProcessToCondition(&isNotEmptyCmdQueue);  // wait for the communication to be clean
+      {
+        TASK_LOOP_WHILE(isNotEmptyCmdQueue())  // wait for the communication to be clean
+      }
 
       static COORDINATE tmp;
       bool isCoorRelative = coorGetRelative();
diff --git a/TFT/src/User/API/interfaceCmd.c b/TFT/src/User/API/interfaceCmd.c
index 8173857671..a525252158 100644
--- a/TFT/src/User/API/interfaceCmd.c
+++ b/TFT/src/User/API/interfaceCmd.c
@@ -113,7 +113,7 @@ void mustStoreCmd(const char * format, ...)
   if (cmdQueue.count >= CMD_QUEUE_SIZE)
   {
     setReminderMsg(LABEL_BUSY, SYS_STATUS_BUSY);
-    loopProcessToCondition(&isFullCmdQueue);  // wait for a free slot in the queue in case the queue is currently full
+    TASK_LOOP_WHILE(cmdQueue.count >= CMD_QUEUE_SIZE);  // wait for a free slot in the command queue in case it is currently full
   }
 
   va_list va;
@@ -183,7 +183,7 @@ void mustStoreCacheCmd(const char * format, ...)
   if (cmdCache.count >= CMD_QUEUE_SIZE)
   {
     setReminderMsg(LABEL_BUSY, SYS_STATUS_BUSY);
-    loopProcessToCondition(&isFullCmdQueue);  // wait for a free slot in the queue in case the queue is currently full
+    TASK_LOOP_WHILE(cmdCache.count >= CMD_QUEUE_SIZE);  // wait for a free slot in the cache queue in case it is currently full
   }
 
   va_list va;
diff --git a/TFT/src/User/API/interfaceCmd.h b/TFT/src/User/API/interfaceCmd.h
index d905e32f5f..76d3f5b96e 100644
--- a/TFT/src/User/API/interfaceCmd.h
+++ b/TFT/src/User/API/interfaceCmd.h
@@ -22,9 +22,9 @@ typedef char CMD[CMD_MAX_SIZE];
 // if DEBUG_MONITORING is enabled in Configuration.h
 uint8_t getQueueCount(void);
 
-bool isPendingCmd(void);         // also usable as condition callback for loopProcessToCondition()
-bool isFullCmdQueue(void);       // also usable as condition callback for loopProcessToCondition()
-bool isNotEmptyCmdQueue(void);   // also usable as condition callback for loopProcessToCondition()
+bool isPendingCmd(void);
+bool isFullCmdQueue(void);
+bool isNotEmptyCmdQueue(void);
 bool isEnqueued(const CMD cmd);
 bool isWritingMode(void);
 
diff --git a/TFT/src/User/API/menu.c b/TFT/src/User/API/menu.c
index acfdadf89b..64fdbbb2f1 100644
--- a/TFT/src/User/API/menu.c
+++ b/TFT/src/User/API/menu.c
@@ -1330,23 +1330,3 @@ void menuDummy(void)
 {
   CLOSE_MENU();
 }
-
-void loopProcessToCondition(CONDITION_CALLBACK condCallback)
-{
-  uint8_t curMenu = infoMenu.cur;
-  bool invokedUI = false;
-
-  while (condCallback())  // loop until the condition is no more satisfied
-  {
-    loopProcess();
-
-    if (infoMenu.cur > curMenu)  // if a user interaction is needed (e.g. dialog box UI), handle it
-    {
-      invokedUI = true;
-      (*infoMenu.menu[infoMenu.cur])();
-    }
-  }
-
-  if (invokedUI)  // if a UI was invoked, load a dummy menu just to force the caller also to refresh its menu
-    OPEN_MENU(menuDummy);
-}
diff --git a/TFT/src/User/API/menu.h b/TFT/src/User/API/menu.h
index cb344b78ca..91f70fb666 100644
--- a/TFT/src/User/API/menu.h
+++ b/TFT/src/User/API/menu.h
@@ -216,7 +216,6 @@ void menuDummy(void);
 void loopBackEnd(void);
 void loopFrontEnd(void);
 void loopProcess(void);
-void loopProcessToCondition(CONDITION_CALLBACK condCallback);
 
 #ifdef __cplusplus
 }
diff --git a/TFT/src/User/Menu/Extrude.c b/TFT/src/User/Menu/Extrude.c
index 89f95c0d9a..3f8cf3d5da 100644
--- a/TFT/src/User/Menu/Extrude.c
+++ b/TFT/src/User/Menu/Extrude.c
@@ -40,7 +40,7 @@ void menuExtrude(void)
 
   if (eAxisBackup.handled == false)
   {
-    loopProcessToCondition(&isNotEmptyCmdQueue);  // wait for the communication to be clean
+    TASK_LOOP_WHILE(isNotEmptyCmdQueue())  // wait for the communication to be clean
 
     eAxisBackup.coordinate = coordinateGetAxis(E_AXIS);
     eAxisBackup.feedrate = coordinateGetFeedRate();
diff --git a/TFT/src/User/Menu/LoadUnload.c b/TFT/src/User/Menu/LoadUnload.c
index 24ce73092d..5b5ab12774 100644
--- a/TFT/src/User/Menu/LoadUnload.c
+++ b/TFT/src/User/Menu/LoadUnload.c
@@ -35,7 +35,7 @@ void menuLoadUnload(void)
 
   if (eAxisBackup.handled == false)
   {
-    loopProcessToCondition(&isNotEmptyCmdQueue);  // wait for the communication to be clean
+    TASK_LOOP_WHILE(isNotEmptyCmdQueue())  // wait for the communication to be clean
 
     eAxisBackup.coordinate = coordinateGetAxis(E_AXIS);
     eAxisBackup.handled = true;
diff --git a/TFT/src/User/Menu/Popup.c b/TFT/src/User/Menu/Popup.c
index ca07b9ad17..c9dfaa1a96 100644
--- a/TFT/src/User/Menu/Popup.c
+++ b/TFT/src/User/Menu/Popup.c
@@ -228,7 +228,13 @@ void loopPopup(void)
 
   // avoid to nest menuDialog popup type (while a menuNotification popup type can be overridden)
   if (MENU_IS_NOT(menuDialog))
-  { // handle the user interaction, then reload the previous menu
-    OPEN_MENU(menuDialog);
+  { // handle user interaction then prepare to reload the previous menu
+    if (MENU_IS(menuDummy))
+      REPLACE_MENU(menuDialog);
+    else
+      OPEN_MENU(menuDialog);
+
+    menuDialog();  // activate the popup dialog handler
+    OPEN_MENU(menuDummy);  // trigger the redraw of the menu where the popup appeared
   }
 }
diff --git a/TFT/src/User/my_misc.h b/TFT/src/User/my_misc.h
index 56d3c929ef..a9e62ea19e 100644
--- a/TFT/src/User/my_misc.h
+++ b/TFT/src/User/my_misc.h
@@ -70,11 +70,11 @@ extern "C" {
 // call processes from the argument and than loopProcess() while condition is true
 // tasks from argument must be separated by ";" ("TASK_LOOP_WHILE(condition, task1(); task2(); ...))
 #define TASK_LOOP_WHILE(condition, ...) \
-  while (condition)                     \
-  {                                     \
-    __VA_ARGS__;                        \
-    loopProcess();                      \
-  }
+        while (condition)               \
+        {                               \
+          __VA_ARGS__;                  \
+          loopProcess();                \
+        }
 
 uint8_t inRange(int cur, int tag , int range);
 long map(long x, long in_min, long in_max, long out_min, long out_max);