List all connected devices in OpenBSD

How do I list all connected (including unmounted) devices on OpenBSD?

I'm looking for something similar to lsblk for Linux or camcontrol devlist for FreeBSD:

# List devices on FreeBSD

$ camcontrol devlist
<VBOX HARDDISK 1.0>   at scbus0 target 0 lun 0 (ada0,pass0)
<VBOX CD-ROM 1.0>     at scbus1 target 0 lun 0 (pass1,cd0)

# List devices on Linux
$ lsblk

NAME        MAJ:MIN RM   SIZE RO TYPE MOUNTPOINT
/dev/sda      8:0    0 465.8G  0 disk 
├─/dev/sda1   8:1    0  1007K  0 part 
├─/dev/sda2   8:2    0   256M  0 part /boot
├─/dev/sda3   8:3    0   9.8G  0 part [SWAP]
├─/dev/sda4   8:4    0  29.3G  0 part /
├─/dev/sda5   8:5    0  29.3G  0 part /var
├─/dev/sda6   8:6    0 297.6G  0 part /home
└─/dev/sda9   8:9    0  16.3G  0 part 
/dev/sr0     11:0    1  1024M  0 rom  

None of these commands seem to exist or be available in the (default) repos for OpenBSD.
Not even pciinfo, kldstat, or geom are available.