如何从ZF2上的控制器调用CLI

Our system is written in ZF2. I'm trying to call a ZFTool console command programmatically, if there's a way to do that. All documentation I have found so far points to call a Controller action from CLI, instead of CLI programmatically from a controller.

If there's no default way to do this, a workaround would be fine as long as it's testable. Thanks in advance.

PS: I'm new to ZF2, I come from Laravel where you have a facade class to execute commands from a controller class Artisan::call('my:command').