TRB14x from 2.6 RUTOS has I2C support. Either using SDK or directly via terminal, data can be requested from I2C devices.
Gateways with this firmware and up has i2c interface /dev/i2c-2, which can be used to access connected devices directly. Also there is i2c-tools (i2cdetect, i2cdump and etc.) installed in device, they can be used to communicate with connected device or in SDK to develop your own application.