[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/Notifier.cpp

@@ -128,7 +128,7 @@ Notifier::~Notifier() {
     m_thread.join();
   }
 
-  HAL_CleanNotifier(handle, &status);
+  HAL_CleanNotifier(handle);
 }
 
 Notifier::Notifier(Notifier&& rhs)