[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/include/frc/DigitalOutput.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <hal/DIO.h>
 #include <hal/Types.h>
 #include <units/time.h>
 #include <wpi/sendable/Sendable.h>
@@ -34,11 +35,11 @@ class DigitalOutput : public DigitalSource,
    */
   explicit DigitalOutput(int channel);
 
-  ~DigitalOutput() override;
-
   DigitalOutput(DigitalOutput&&) = default;
   DigitalOutput& operator=(DigitalOutput&&) = default;
 
+  ~DigitalOutput() override;
+
   /**
    * Set the value of a digital output.
    *
@@ -161,7 +162,7 @@ class DigitalOutput : public DigitalSource,
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle> m_handle;
+  hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
   hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
 };