[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/SynchronousInterrupt.cpp

@@ -49,10 +49,6 @@ void SynchronousInterrupt::InitSynchronousInterrupt() {
   FRC_CheckErrorStatus(status, "Interrupt setting up source edge failed");
 }
 
-SynchronousInterrupt::~SynchronousInterrupt() {
-  HAL_CleanInterrupts(m_handle);
-}
-
 inline SynchronousInterrupt::WaitResult operator|(
     SynchronousInterrupt::WaitResult lhs,
     SynchronousInterrupt::WaitResult rhs) {