Send a command to the remote server.

        Any path subtitutions required for the URL mapped to the command should be
        included in the command parameters.

        :Args:
         - command - A string specifying the command to execute.
         - params - A dictionary of named parameters to send with the command as
           its JSON payload.

def execute(self, command, params):
        """
        Send a command to the remote server.

        Any path subtitutions required for the URL mapped to the command should be
        included in the command parameters.

        :Args:
         - command - A string specifying the command to execute.
         - params - A dictionary of named parameters to send with the command as
           its JSON payload.
        """
        command_info = self._commands[command]
        assert command_info is not None, 'Unrecognised command %s' % command
        path = string.Template(command_info[1]).substitute(params)
        if hasattr(self, 'w3c') and self.w3c and isinstance(params, dict) and 'sessionId' in params:
            del params['sessionId']
        data = utils.dump_json(params)
        url = '%s%s' % (self._url, path)
        return self._request(command_info[0], url, body=data)