I am the author of the OP; I came to the conclusion that what I need to achieve is not possible using SSH only to the date (OpenSSH_6.9p1 Ubuntu-2, OpenSSL 1.0.2d 9 Jul 2015), but I found a great piece of software that uses encrypted SPAuthentication to open SSH port and it's new version (to the date of this post, it's GitHub master branch) has a feature to execute a command always that a user authorizates successfully.
FWKNOP - Encrypted Single Packet Authorization
FWKNOP set iptables rules that allow access to given ports upon a single packet encrypted which is sent via UDP. Then after authorization it allow access for the authorized user for a given time, for example 30 seconds, closing the port after this, leaving the connection open.
1. To install on an Ubuntu linux:
The current version (2.6.0-2.1build1) on Ubuntu repositories to the date still doesn't allow command execution on successful SPA; (please use 2.6.8 from GitHub instead)
On client machine:
sudo apt-get install fwknop-client
On server side:
sudo apt-get install fwknop-server
Here is a tutorial on how to setup the client and server machines
https://help.ubuntu.com/community/SinglePacketAuthorization
Then, after it is set up, on server side:
- Edit
/etc/default/fwknop-server
- Change the line
START_DAEMON="no" to START_DAEMON="yes"
Then run:
sudo service fwknop-server stop
sudo service fwknop-server start
2. Warning admin on successful SPA (email, pushover script etc)
So, as stated above the current version present in Ubuntu repositories (2.6.0-2.1build1) cannot execute command on successful SPA. If you need this feature as of the OP, but it will be released at fwknop version (2.6.8), as can it is stated here:
https://github.com/mrash/fwknop/issues/172
So if you need to use it right now you can build from github branch master which have the CMD_CYCLE_OPEN option.
3. More resources on fwknop
https://help.ubuntu.com/community/SinglePacketAuthorization
https://github.com/mrash/fwknop/ (project on GitHub)
http://www.cipherdyne.org/fwknop/ (project site)
https://www.digitalocean.com/community/tutorials/how-to-use-fwknop-to-enable-single-packet-authentication-on-ubuntu-12-04 (tutorial on DO's community)