I apologize for the long delayed reply.
I need to clarify one thing about the scanner you used.
1. iOS app supports only the code-less(via Bluetooth) scanners.
Which scanner model are you trying to connect with iOS app?
It must be a scanner model that we currently support via iOS SDK, mentioned below
Using BT LE mode
Using Mfi Mode
So, If you are trying to connect with a corded scanner you will not be able to connect.
Secondly, you can write a swift application to use our iOS SDK written in Objective-C. I hope you have already used the "Objective C Bridging Header" file to expose the header files need to access iOS SDK API functions.(Just for the reference : Using Swift with Cocoa and Objective-C (Swift 4.1): Swift and Objective-C in the Same Project )
Further, currently we are working on Swift version of our Scanner Control App for iOS and in few months will be releasing the sample code for it too.
If you need any help please do write to me.