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If you know what the device name of the pendrive is, you could check if it has a device file in /dev/, or could read the output of lsusb and see if you find a pendrive. Hotplugd can detect USB stuff and run scripts in response. As for cdrom, the device is always in /dev/ even if no cd is inserted, so the only way I can think of to detect it is to try mounting it and reading mount's respone. If no CD is inserted, mount will say "Mount: no medium found." Hope this helps!
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