Check & replace if necessary the brake pedal switch placed above pedals on the support.
If the problem still occurs you might access the ESP & ABS ECU (Electronic Control Unit) using diagnostic equipment connected to the data link connector of the car, in order to pull out all DTC (Diagnostic Trouble Codes) memored.
Then you will be able to replace bad piece(s) and fix the problem by erasing all DTC stocked inside ESP & ABS ECU & reset it.
I'm convinced that your brake pedal switch is faulty because the glow plug warning light went ON, along with the ESP & ABS. Just replace the brake pedal switch, see if rear stop lamps light when press the brake pedal, and test the car on the road.
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