[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/DutyCycle.cpp

@@ -35,10 +35,6 @@ DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
   InitDutyCycle();
 }
 
-DutyCycle::~DutyCycle() {
-  HAL_FreeDutyCycle(m_handle);
-}
-
 void DutyCycle::InitDutyCycle() {
   int32_t status = 0;
   m_handle =