jdi.py is an example of controlling emc with a simple Python program that sends NML messages. It will turn off estop, turn the machine on, enter "AUTO" mode, open the named file, and then run it.

While the program is running, it prints the line number and machine position about once a second.

When it finishes, it turns on estop and exits.

By using it as your DISPLAY=, you can make emc run one .ngc file and then exit: 

emc configs/..../your.ini /full/path/to/your/gcode.ngc

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(originally posted on the AXIS blog)