[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/I2C.h

@@ -40,8 +40,6 @@ class I2C {
    */
   I2C(Port port, int deviceAddress);
 
-  ~I2C();
-
   I2C(I2C&&) = default;
   I2C& operator=(I2C&&) = default;