I was driving to work when suddenly all the ABS lights came on and the red hand brake icon followed by "Check brake system" and "transmission Limited Function" which caused the car to have higher idle rpm of around 1300rpm. The car drove ok and gear changing was totally smooth.
However when I stopped and enabled the electric hand brake it would not turn off again so couldn't move. Eventually I disconnected and reconnected the battery which allowed me to disable the electric handbrake as soon as I started the engine. The aforementioned brake warning immediately comes on when the car is started but I can drive around as long as I don't enable the hand brake.

I had a CANbus module so used Forscan to get the DTC codes and the ones that showed are :
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===TCM DTC U0415:00-27===
Code: U0415 - Invalid Data Received from Anti-Lock Brake System (ABS) Control Module A

Status:

• DTC Present at Time of Request
• Malfunction Indicator Lamp is Off for this DTC

Module: Transmission Control Module

Freeze Frame :
-GLOBTIM: 227946912 s - Global real time
-TOTDIST: 197648.0 km - Total Distance
-MAINECUV: 14.25 V - Main ECU voltage supply
===END TCM DTC U0415:00-27===

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===BdyCM DTC B124D:02-8A===
Code: B124D - Tire Pressure Sensor

Additional Fault Symptom:
- General Signal Failure

Status:

• DTC Present at Time of Request
• Malfunction Indicator Lamp is On for this DTC

--------------------------------------------------------------------------------------------------

===ABS DTC U300A:29-AB===
Code: U300A - Ignition Switch

Additional Fault Symptom:
- Signal Invalid

Status:

• DTC Present at Time of Request
• Malfunction Indicator Lamp is On for this DTC

Module: Antilock braking system

===END ABS DTC U300A:29-AB===

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===PSCM DTC U0415:00-0A===
Code: U0415 - Invalid Data Received from Anti-Lock Brake System (ABS) Control Module A

Status:

• DTC Present at Time of Request
• Malfunction Indicator Lamp is Off for this DTC

Module: Power Steering Control Module

Freeze Frame :
-STEER_FEEL: Comfort - Steering Personalization Status
-SW_ANGLE: 0.00 ° - Steering Wheel Angle
-ODOMETER: 197640.0 km - Total Distance
-MOD_SUP_V: 14.00 V - Module Supply Voltage
-PSCM_INT_TEMP: 23 °C - PSCM Internal Temperature
-EPAS_MOTOR_CUR: 0.00 A - EPAS Motor Current
-VSS: 0.0 km/h - Vehicle Speed
===END PSCM DTC U0415:00-0A===
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These codes came back even when cleared.

I got it checked by a mechanic and he drove around with a scanner showing all the wheel speed sensors working and the ABS pump making noises, etc. He thinks it may be the ABS control module electronics but was not 100% sure.
Has anyone ever had such a problem before? Any pointers on what I can do to check if it is the ABS control module?
At the moment I can drive the car but have to leave it in park without the handbrake enabled.

Update: While I was trying to check the ABS module I found that there was a Molex black plastic harness (33472-0723) hanging loose in the crevice just above the fuse box that had a broken wire loop.
The wire measured 14.5V when the engine was on and it seems to be supplying the ABS control module. I soldered the wire back together and everything is running fine now.

https://imgur.com/Un7h7uf

Good that you found it and that it was an easy repair.