[core] Convert remaining callback registration methods to templates

Convert rotary_encoder register_listener, canbus add_callback,
sdl add_key_listener, and udp add_listener from std::function to
templates to avoid the heap-allocation fallback path.

MQTT backend set_on_* methods are virtual and cannot be templatized.

esphome/components/canbus/canbus.h

@@ -91,10 +91,7 @@ class Canbus : public Component {
    * - rtr If this is a remote transmission request
    * - data The message data
    */
-  void add_callback(
-      std::function<void(uint32_t can_id, bool extended_id, bool rtr, const std::vector<uint8_t> &data)> callback) {
-    this->callback_manager_.add(std::move(callback));
-  }
+  template<typename F> void add_callback(F &&callback) { this->callback_manager_.add(std::forward<F>(callback)); }
 
  protected:
   template<typename... Ts> friend class CanbusSendAction;

esphome/components/rotary_encoder/rotary_encoder.h

@@ -90,7 +90,7 @@ class RotaryEncoderSensor : public sensor::Sensor, public Component {
     this->on_anticlockwise_callback_.add(std::forward<F>(callback));
   }
 
-  void register_listener(std::function<void(uint32_t)> listener) { this->listeners_.add(std::move(listener)); }
+  template<typename F> void register_listener(F &&listener) { this->listeners_.add(std::forward<F>(listener)); }
 
  protected:
   InternalGPIOPin *pin_a_;

esphome/components/sdl/sdl_esphome.h

@@ -37,11 +37,11 @@ class Sdl : public display::Display {
   int get_height() override { return this->height_; }
   float get_setup_priority() const override { return setup_priority::HARDWARE; }
   void dump_config() override { LOG_DISPLAY("", "SDL", this); }
-  void add_key_listener(int32_t keycode, std::function<void(bool)> &&callback) {
+  template<typename F> void add_key_listener(int32_t keycode, F &&callback) {
     if (!this->key_callbacks_.count(keycode)) {
       this->key_callbacks_[keycode] = CallbackManager<void(bool)>();
     }
-    this->key_callbacks_[keycode].add(std::move(callback));
+    this->key_callbacks_[keycode].add(std::forward<F>(callback));
   }
 
   int mouse_x{};

esphome/components/udp/udp_component.h

@@ -28,9 +28,7 @@ class UDPComponent : public Component {
   void set_broadcast_port(uint16_t port) { this->broadcast_port_ = port; }
   void set_should_broadcast() { this->should_broadcast_ = true; }
   void set_should_listen() { this->should_listen_ = true; }
-  void add_listener(std::function<void(std::span<const uint8_t>)> &&listener) {
-    this->packet_listeners_.add(std::move(listener));
-  }
+  template<typename F> void add_listener(F &&listener) { this->packet_listeners_.add(std::forward<F>(listener)); }
   void setup() override;
   void loop() override;
   void dump_config() override;