The adb itself is a nice tool and it came up with a nice feature to block itself until the emulator is up:
adb wait-for-device - block until device is online
However, this feature is not well implemented by Google:
http://developer.android.com/guide/developing/tools/adb.html
Note that this command does not cause adb to wait until the entire system is fully booted. For that reason, you should not prepend it to other commands that require a fully booted system. As an example, the install requires the Android package manager, which is available only after the system is fully booted.
Another issue with this comment is that it could get stuck occasionally due to a bug in either emulator or adb.
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