Sorry for the late reply Dallas. I've been traveling.
In its current state the drupalauth module doesn't work this way. An
existing Drupal session is not bridged to SimpleSAMLphp. Rather, the
way it works is that the drupalauth module creates an Authentication
Source for SimpleSAMLphp that allows SimpleSAMLphp to authenticate a
user against the Drupal API. As far as SimpleSAMLphp is concerned
its as if the user authenticated against any other backend database.
Currently the only way to accomplish what you want to do is with one
server, two fully qualified host names, two instances of
SimpleSAMLphp, and one Drupal site. Let's say your Drupal site is
www.example.com and your IdP is
idp.example.com. You would install
the SP instance of SimpleSAMLphp at
www.example.com/simplesaml and
the IdP instance at
idp.example.com/simplesaml. The Drupal site
would be configured to operate on
www.example.com but not
idp.example.com. The IdP instance of SimpleSAMLphp would be
configured to authenticate users against the drupal site using
drupalauth. The SP instance of SimpleSAMLphp would be configured to
trust the IdP. Then, you would SAMLize Drupal using the
simplesamlphp_auth module configured to use the SP instance of
SimpleSAMLphp. This would require theme modifications to the IdP
instance and it would require some shenanigans to make the account
creation and log in flow work nicely.
I've done this but there are several undesirable implications of
this configuration so I have recently been thinking about how I
could modify drupalauth to use an existing Drupal session as proof
of authentication. The benefit would be that they would never see
the SimpleSAMLphp login page. This would have several benefits:
1) setting up a Drupal-backed IdP would not require any theme work
to SimpleSAMLphp since the user would never interact with it
2) Drupal sessions could be used as proof of authentication and
therefore it would simplify both the user's experience and the
administrator's experience better
3) assuming the Drupal site didn't also need to be SAMLized (to
support other IdPs) it would drastically reduce the requirements to
one server, one instance of SimpleSAMLphp (IdP), and one instance of
Drupal
To pull this off I will likely need to implement a Drupal module to
help bridge the gap between Drupal and SimpleSAMLphp.
If this new approach seems favorable to you, as it does to at least
one other group I've interacted with lately, then I'll put this on
the roadmap for the drupalauth project.