[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/DigitalInput.cpp

@@ -35,10 +35,6 @@ DigitalInput::DigitalInput(int channel) {
   wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
 }
 
-DigitalInput::~DigitalInput() {
-  HAL_FreeDIOPort(m_handle);
-}
-
 bool DigitalInput::Get() const {
   int32_t status = 0;
   bool value = HAL_GetDIO(m_handle, &status);