diff --git a/src/Asv.Common.Shell/Commands/TcpTest.cs b/src/Asv.Common.Shell/Commands/TcpTest.cs
index 550d317..f46fe75 100644
--- a/src/Asv.Common.Shell/Commands/TcpTest.cs
+++ b/src/Asv.Common.Shell/Commands/TcpTest.cs
@@ -26,10 +26,10 @@ public void Benchmark()
     /// </summary>
     [Command("tcp-test")]
     public async Task<int> Run(
-        string server = "tcps://127.0.0.1:7341",
-        string client = "tcp://127.0.0.1:7341"
-        /*string server = "serial:COM11?br=57600",
-        string client = "serial:COM44?br=57600"*/
+        /*string server = "tcps://127.0.0.1:7341",
+        string client = "tcp://127.0.0.1:7341"*/
+        string server = "serial:COM11?br=57600",
+        string client = "serial:COM45?br=57600"
     )
     {
         var loggerFactory = ConsoleAppHelper.CreateDefaultLog();
diff --git a/src/Asv.IO/Protocol/Connection/IProtocolConnection.cs b/src/Asv.IO/Protocol/Connection/IProtocolConnection.cs
index 5c2d306..d12934c 100644
--- a/src/Asv.IO/Protocol/Connection/IProtocolConnection.cs
+++ b/src/Asv.IO/Protocol/Connection/IProtocolConnection.cs
@@ -1,7 +1,11 @@
 using System;
 using System.Threading;
 using System.Threading.Tasks;
+using Asv.Common;
+using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging.Abstractions;
 using R3;
+using ZLogger;
 
 namespace Asv.IO;
 
@@ -17,7 +21,7 @@ public interface IProtocolConnection:ISupportTag,ISupportStatistic, IDisposable,
 public static class ProtocolConnectionHelper
 {
     public static Observable<TMessage> RxFilter<TMessage, TMessageId>(this IProtocolConnection connection)
-        where TMessage: IProtocolMessage<TMessageId>, new()
+        where TMessage : IProtocolMessage<TMessageId>, new()
     {
         var messageId = new TMessage().Id;
         return connection.OnRxMessage.Where(messageId, (raw, id) =>
@@ -26,13 +30,15 @@ public static Observable<TMessage> RxFilter<TMessage, TMessageId>(this IProtocol
             {
                 return message.Id != null && message.Id.Equals(id);
             }
+
             return false;
 
-        }).Cast<IProtocolMessage,TMessage>();
+        }).Cast<IProtocolMessage, TMessage>();
     }
-    
-    public static Observable<TMessage> RxFilter<TMessage, TMessageId>(this IProtocolConnection connection, Func<TMessage, bool> filter)
-        where TMessage: IProtocolMessage<TMessageId>, new()
+
+    public static Observable<TMessage> RxFilter<TMessage, TMessageId>(this IProtocolConnection connection,
+        Func<TMessage, bool> filter)
+        where TMessage : IProtocolMessage<TMessageId>, new()
     {
         var messageId = new TMessage().Id;
         return connection.OnRxMessage.Where(messageId, (raw, id) =>
@@ -41,16 +47,18 @@ public static Observable<TMessage> RxFilter<TMessage, TMessageId>(this IProtocol
             {
                 return message.Id != null && message.Id.Equals(id) && filter(message);
             }
+
             return false;
 
-        }).Cast<IProtocolMessage,TMessage>();
+        }).Cast<IProtocolMessage, TMessage>();
     }
 
-    public static async Task<TResult> SendAndWaitAnswer<TResult,TMessage,TMessageId>(this IProtocolConnection connection, 
-        IProtocolMessage send, 
-        FilterDelegate<TResult, TMessage,TMessageId> filterAndGetResult,
+    public static async Task<TResult> SendAndWaitAnswer<TResult, TMessage, TMessageId>(
+        this IProtocolConnection connection,
+        IProtocolMessage request,
+        FilterDelegate<TResult, TMessage, TMessageId> filterAndGetResult,
         CancellationToken cancel = default)
-        where TMessage: IProtocolMessage<TMessageId>, new()
+        where TMessage : IProtocolMessage<TMessageId>, new()
     {
         cancel.ThrowIfCancellationRequested();
         var tcs = new TaskCompletionSource<TResult>();
@@ -62,12 +70,76 @@ public static async Task<TResult> SendAndWaitAnswer<TResult,TMessage,TMessageId>
                 tcs.TrySetResult(result);
             }
         });
-        await connection.Send(send, cancel);
+        await connection.Send(request, cancel).ConfigureAwait(false);
         return await tcs.Task.ConfigureAwait(false);
     }
-    
-    
+
+    public static async Task<TResult> SendAndWaitAnswer<TResult, TMessage, TMessageId>(
+        this IProtocolConnection connection,
+        IProtocolMessage request,
+        FilterDelegate<TResult, TMessage, TMessageId> filterAndGetResult,
+        TimeSpan timeout,
+        CancellationToken cancel = default,
+        TimeProvider? timeProvider = null)
+        where TMessage : IProtocolMessage<TMessageId>, new()
+    {
+        timeProvider ??= TimeProvider.System;
+        using var linkedCancel = CancellationTokenSource.CreateLinkedTokenSource(cancel);
+        linkedCancel.CancelAfter(timeout, timeProvider);
+        return await connection.SendAndWaitAnswer(request, filterAndGetResult, cancel);
+    }
+
+    public static async Task<TResult> SendAndWaitAnswer<TResult, TRequestMessage, TResultMessage, TMessageId>(
+        this IProtocolConnection connection,
+        TRequestMessage request,
+        FilterDelegate<TResult, TResultMessage, TMessageId> filterAndGetResult,
+        TimeSpan timeout,
+        int maxAttemptCount,
+        ResendMessageModifyDelegate<TRequestMessage, TMessageId>? modifyRequestOnResend = null,
+        CancellationToken cancel = default,
+        TimeProvider? timeProvider = null,
+        IProgress<int>? progress = null)
+        where TResultMessage : IProtocolMessage<TMessageId>, new()
+        where TRequestMessage : IProtocolMessage<TMessageId>
+    {
+        cancel.ThrowIfCancellationRequested();
+        TResult? result = default;
+        byte currentAttempt = 0;
+        progress ??= new Progress<int>();
+        while (IsRetryCondition())
+        {
+            progress.Report(currentAttempt);
+            if (currentAttempt != 0)
+            {
+                modifyRequestOnResend?.Invoke(request, currentAttempt);
+            }
+
+            ++currentAttempt;
+            try
+            {
+                result = await connection.SendAndWaitAnswer(request, filterAndGetResult, timeout, cancel, timeProvider)
+                    .ConfigureAwait(false);
+                break;
+            }
+            catch (OperationCanceledException)
+            {
+                if (IsRetryCondition())
+                {
+                    continue;
+                }
+
+                cancel.ThrowIfCancellationRequested();
+            }
+        }
+        if (result != null) return result;
+        throw new TimeoutException($"Timeout to execute '{request}' with {maxAttemptCount} x {timeout}'");
+        
+        bool IsRetryCondition() => currentAttempt < maxAttemptCount;
+    }
 }
 
 public delegate bool FilterDelegate<TResult, in TMessage,TMessageId>(TMessage input, out TResult result)
     where TMessage: IProtocolMessage<TMessageId>;
+
+public delegate bool ResendMessageModifyDelegate<in TMessage,TMessageId>(TMessage input, int attempt)
+    where TMessage: IProtocolMessage<TMessageId>;
\ No newline at end of file
diff --git a/src/Asv.IO/Protocol/Parser/Exceptions/ProtocolDeserializeMessageException.cs b/src/Asv.IO/Protocol/Parser/Exceptions/ProtocolDeserializeMessageException.cs
index 5c64eb5..a18a9c3 100644
--- a/src/Asv.IO/Protocol/Parser/Exceptions/ProtocolDeserializeMessageException.cs
+++ b/src/Asv.IO/Protocol/Parser/Exceptions/ProtocolDeserializeMessageException.cs
@@ -5,7 +5,7 @@ namespace Asv.IO;
 public class ProtocolDeserializeMessageException : ProtocolParserException
 {
     public ProtocolDeserializeMessageException(ProtocolInfo parser, IProtocolMessage message, Exception ex) 
-        : base(parser, $"Deserialization {parser}.{message.Name} message error:{ex.Message}",ex)
+        : base(parser, $"Deserialization {parser}.{message.Name} message error.",ex)
     {
         
     }