I'm sure there's some way to do it with cdrecord, though I don't know 
which options to use. You can also parse output of 'cdrw -MV'. A more 
structured approach (on Nevada) is using HAL:

$ for udi in `hal-find-by-capability --capability volume.disc`; do
 >         hal-get-property --udi $udi --key volume.disc.is_blank
 >         hal-get-property --udi $udi --key volume.disc.type
 > done

true
dvd_plus_r

(same functionality is easy to program in C, Python and Java, using 
respective DBus bindings).

Current media detection code can be flaky on some drives though, see if 
it works for you. Works fine on my Lite-On LH-18A1P, but has problems 
with writable DVDs on Sony DRU-830 (bug needs fixing).

-Artem
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