[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.

wpilibc/src/main/native/cpp/Counter.cpp

@@ -89,10 +89,6 @@ Counter::~Counter() {
   } catch (const RuntimeError& e) {
     e.Report();
   }
-
-  int32_t status = 0;
-  HAL_FreeCounter(m_counter, &status);
-  FRC_ReportError(status, "Counter destructor");
 }
 
 void Counter::SetUpSource(int channel) {