[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/DMA.cpp

@@ -30,10 +30,6 @@ DMA::DMA() {
   FRC_CheckErrorStatus(status, "InitializeDMA");
 }
 
-DMA::~DMA() {
-  HAL_FreeDMA(dmaHandle);
-}
-
 void DMA::SetPause(bool pause) {
   int32_t status = 0;
   HAL_SetDMAPause(dmaHandle, pause, &status);