diff --git a/platformio/commands/home/rpc/handlers/ide.py b/platformio/commands/home/rpc/handlers/ide.py
index 44286dd8..ad3cf063 100644
--- a/platformio/commands/home/rpc/handlers/ide.py
+++ b/platformio/commands/home/rpc/handlers/ide.py
@@ -20,33 +20,63 @@ from platformio.compat import aio_get_running_loop
 
 
 class IDERPC:
+
+    COMMAND_TIMEOUT = 1.5  # in seconds
+
     def __init__(self):
-        self._cmd_queue = []
-        self._result_queue = {}
+        self._ide_queue = []
+        self._cmd_queue = {}
 
     async def listen_commands(self):
-        self._cmd_queue.append(aio_get_running_loop().create_future())
-        return await self._cmd_queue[-1]
+        f = aio_get_running_loop().create_future()
+        self._ide_queue.append(f)
+        self._process_commands()
+        return await f
 
     async def send_command(self, command, params=None):
-        if not self._cmd_queue:
-            raise JSONRPC20DispatchException(
-                code=4005, message="PIO Home IDE agent is not started"
-            )
-        cmd_id = None
-        while self._cmd_queue:
-            cmd_id = f"ide-{command}-{time.time()}"
-            self._cmd_queue.pop().set_result(
-                {
-                    "id": cmd_id,
-                    "method": command,
-                    "params": params,
-                }
-            )
-        if not cmd_id:
-            return
-        self._result_queue[cmd_id] = aio_get_running_loop().create_future()
-        return await self._result_queue[cmd_id]
+        cmd_id = f"ide-{command}-{time.time()}"
+        self._cmd_queue[cmd_id] = {
+            "method": command,
+            "params": params,
+            "time": time.time(),
+            "future": aio_get_running_loop().create_future(),
+        }
+        self._process_commands()
+        # in case if IDE agent has not been started
+        aio_get_running_loop().call_later(
+            self.COMMAND_TIMEOUT + 0.1, self._process_commands
+        )
+        return await self._cmd_queue[cmd_id]["future"]
 
     def on_command_result(self, cmd_id, value):
-        self._result_queue[cmd_id].set_result(value)
+        if cmd_id not in self._cmd_queue:
+            return
+        self._cmd_queue[cmd_id]["future"].set_result(value)
+        del self._cmd_queue[cmd_id]
+
+    def _process_commands(self):
+        for cmd_id in list(self._cmd_queue):
+            cmd_data = self._cmd_queue[cmd_id]
+            if cmd_data["future"].done():
+                del self._cmd_queue[cmd_id]
+                continue
+
+            if (
+                not self._ide_queue
+                and (time.time() - cmd_data["time"]) > self.COMMAND_TIMEOUT
+            ):
+                cmd_data["future"].set_exception(
+                    JSONRPC20DispatchException(
+                        code=4005, message="PIO Home IDE agent is not started"
+                    )
+                )
+                continue
+
+            while self._ide_queue:
+                self._ide_queue.pop().set_result(
+                    {
+                        "id": cmd_id,
+                        "method": cmd_data["method"],
+                        "params": cmd_data["params"],
+                    }
+                )