[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/counter/ExternalDirectionCounter.cpp

@@ -61,11 +61,6 @@ ExternalDirectionCounter::ExternalDirectionCounter(
   wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
 }
 
-ExternalDirectionCounter::~ExternalDirectionCounter() {
-  int32_t status = 0;
-  HAL_FreeCounter(m_handle, &status);
-}
-
 int ExternalDirectionCounter::GetCount() const {
   int32_t status = 0;
   int val = HAL_GetCounter(m_handle, &status);