Connect your phone to your computer, and interact with it over HTTP.
First install dependencies:
$ ./pip_install.sh
Then use monkey runner to start the server:
$ /path/to/android-sdk/tools/monkeyrunner server.py
This will start the monkeyrunner server on port 8080, you can see what the current screen looks like by loading http://localhost:8080/screenshot
Otherwise you can interact with your phone via HTTP POSTs.
TODO: Add more documentation