I'm interpreting this question as a general block device reading problem.

You should be able to open the cdrom device like any other file. If you want the true file table, you will have to read raw data ala sysread and implement the appropriate ISO 9660 code yourself. This is well beyond the scope of the Monestary. It is also reinventing the wheel, as I'm sure there are excellent, flexible programs already available to do this for you.