To read the Rails session from a Rack middleware, use env['rack.session']. It's an ActionDispatch::Request::Session object.

class MyMiddlware

  def initialize(app)
    @app = app
  end

  def call(env)
    status, headers, body = @app.call(env)
    session = env['rack.session']
    Rails.logger.info("Value of session['foo'] is: " + session['foo'].inspect)
    [status, headers, body]
  end

end

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You may not be able to write to the session this way (I haven't tested this).