[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/UpDownCounter.cpp

@@ -55,11 +55,6 @@ UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
   wpi::SendableRegistry::AddLW(this, "UpDown Counter", m_index);
 }
 
-UpDownCounter::~UpDownCounter() {
-  int32_t status = 0;
-  HAL_FreeCounter(m_handle, &status);
-}
-
 int UpDownCounter::GetCount() const {
   int32_t status = 0;
   int val = HAL_GetCounter(m_handle, &status);