[hal] Refactor C++ handle closing; check for invalid handle before closing (#7016)

Adds a close function pointer template parameter to hal::Handle.  This allows default destructors in many places.
The status parameter has been removed from close functions; in most places it was not used. Where it was, an error is printed instead.

hal/src/main/native/cpp/jni/CTREPCMJNI.cpp

@@ -41,7 +41,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_CTREPCMJNI_free
   (JNIEnv* env, jclass, jint handle)
 {
-  HAL_FreeCTREPCM(handle);
+  if (handle != HAL_kInvalidHandle) {
+    HAL_FreeCTREPCM(handle);
+  }
 }
 
 /*