mfc dialog box freezes

[dhananjay1984]

hi all
i am using mfc dialo based application vc++ 6 for my software development. i a button on box, connect and placed my code under connect buton tab. when i run the application and press connect buton dialog box frezez and i cant even cancel that. so please help me in these regards so that i can control that process from other tabs, the code is given below,

void CGoto2Dlg::OnConnect() 
{
	// TODO: Add your control notification handler code here
	ArSerialConnection serConn;
   ArTcpConnection tcpConn;
  
  // robot
  ArRobot robot;
    
    ArActionGoto first("goto", ArPose(3000,000));
  ArActionGoto second("goto", ArPose(3500,1000));
  ArActionGoto third("goto", ArPose(300,1000));
  ArActionGoto fourth("goto", ArPose(300,200));  
  
  // mandatory init
  Aria::init();
  
  
    // First we see if we can open the tcp connection, if we can we'll
  // assume we're connecting to the sim, and just go on...  if we
  // can't open the tcp it means the sim isn't there, so just try the
  // robot

    tcpConn.setPort();

  // see if we can get to the simulator  (true is success)
  if (tcpConn.openSimple())
  {
    // we could get to the sim, so set the robots device connection to the sim
    printf("Connecting to simulator through tcp.\n");
    robot.setDeviceConnection(&tcpConn);
  }
  else
  {
    // we couldn't get to the sim, so set the port on the serial
    // connection and then set the serial connection as the robots
    // device

    // modify the next line if you're not using the first serial port
    // to talk to your robot
    serConn.setPort();
    printf(
      "Could not connect to simulator, connecting to robot through serial.\n");
    robot.setDeviceConnection(&serConn);
  }
  
  
  // add the sonar to the robot
  robot.addRangeDevice(&sonar);
  
  // try to connect, if we fail exit
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
//    return 1;
  }

  // turn on the motors, turn off amigobot sounds

	  
  robot.comInt(ArCommands::ENABLE, 1);
    // add the actions
  robot.addAction(&tableLimiter, 100);
  robot.addAction(&limiter, 95);
  robot.addAction(&limiterFar, 90);
  robot.addAction(&bump, 80);
	
  	robot.addAction(&first, 20);
    robot.addAction(&second, 19);
    robot.addAction(&third, 18);
	robot.addAction(&fourth, 17); 
	//robot.addAction(&fifth, 16);
	//robot.addAction(&sixth, 15);
	//robot.addAction(&seventh, 14);
 
  // start the robot running, true so that if we lose connection the run stops
	robot.run(true);
	 
  // now exit
  Aria::shutdown(); 
}