When you "run" the simulator from xCode, the app automatically launches, and then you can click the home button to suspend the app. What I want to do is close the app from within the simulator. So, how can this be done?
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Window / Show Device Bezels
And now you can see the real device, so double tap on HOME button and kill you app
For iOS 7 & above:
You'll see screenshots representing the apps suspended on your device - those screenshots respond to touch events. Swiping is the gesture you'll make to "fling" the screenshot off of the screen. Note that on machines where your mouse is intended to represent your finger, you'll click and swipe as if it is your finger tapping and making the gesture.
You can use this command to quit an app in iOS Simulator
xcrun simctl terminate booted com.apple.mobilesafari
You will need to know the bundle id of the app you have installed in the simulator. You can refer to this link
For closing (not quit) the running application in Simulator the keyboard shortcut is "shift+command+h".
Command + shift +h Press H 2 times
Note :- Press H 2 times
Double click on the home button and then click and hold the icon like a normal phone and then click close I believe.
I had a difficult time in finding a way in XCode 7.2, but finally I had found one. First press Shift+Command+ H twice. This will open up all the apps that are currently open.
Swipe left/right to the app you actually want to close. Just Swipe Up using the Touchpad while Holding the App would close the app.
You can also kill the app by process id
ps -cx -o pid,command | awk '$2 == "YourAppNameCaseSensitive" { print $1 }' | xargs kill -9
Source: Stackoverflow.com