In order to speed up the development cycle when debugging with the emulator from an IDE, you do not need to restart the emulator for every debug session. You can leave the emulator running, rebuild the debugged application from the IDE and launch the application from the Installed folder in the emulator.
Note: In some cases you have to close the emulator before rebuilding your application. One such case is when you compile the resource files: In this case the compilation will fail if the emulator is running, as the emulator locks resource files.