docs: def execute_command(self, cmd, params=None, callback=None, raw=False):
          '''
          Execute a command and return a parsed response.
          '''
          def execute_with_callbacks(cmd, params=None, callback=None, raw=False):
              code, params = self.send_command(cmd, params, raw)
              if callback:
                  callback(code, params)
              return code, params
  
          if self.daemon:
              t = Thread(target=execute_with_callbacks,
                      args=(cmd, ), kwargs={'params':params, 'callback':callback, 'raw':raw})
              t.daemon = True
              t.start()
          else:
              return execute_with_callbacks(cmd, params, callback, raw)