I think for TC55 there is its EMDK, There is a porting for Xamarin
You could try to take a look to this sample
XAMARIN Barcode Scanner
The Activity of the Android project use the Profile API to configure DataWedge to read EAN13 and CODE128 barcodes and to send the data with a Broadcast intent. This configuration is assigned to the activity itself (com.pietromaggi.sample,barcodeForms.MainActivity).
The Form uses a DependencyService to send a DataWedge intent (the interface is in the Portable library, I've implemented only the Android side).
A broadcast receiver is implemented to handle the Intent coming from DataWedge, this receiver is registered in the MainActivity and an event handler is registered there to handle the received data,
The event handler uses the MessagingCenter to send the data to the Form so that it can display the data. (If you need to send data to Xamarin Forms app)