add can_read method to HDMFIO and HDF5IO

[bendichter]

Motivation

NeurodataWithoutBorders/pynwb#859 (comment)

linked to hdmf-dev/hdmf-zarr#97

How to test the behavior?

HDF5IO.can_read("file.nwb") == True

Checklist

• Did you update CHANGELOG.md with your changes?
• Have you checked our Contributing document?
• Have you ensured the PR clearly describes the problem and the solution?
• Is your contribution compliant with our coding style? This can be checked running ruff from the source directory.
• Have you checked to ensure that there aren't other open Pull Requests for the same change?
• Have you included the relevant issue number using "Fix #XXX" notation where XXX is the issue number? By including "Fix #XXX" you allow GitHub to close issue #XXX when the PR is merged.

[codecov]

Codecov Report

Patch coverage: 100.00% and project coverage change: -1.33 ⚠️

Comparison is base (6b1a55f) 88.28% compared to head (c221009) 86.95%.

Additional details and impacted files

@@            Coverage Diff             @@
##              dev     #875      +/-   ##
==========================================
- Coverage   88.28%   86.95%   -1.33%     
==========================================
  Files          45       45              
  Lines        9242     9252      +10     
  Branches     2641     2644       +3     
==========================================
- Hits         8159     8045     -114     
- Misses        765      883     +118     
- Partials      318      324       +6     

Impacted Files	Coverage Δ
src/hdmf/backends/hdf5/h5tools.py	82.54% <100.00%> (+0.17%)	⬆️
src/hdmf/backends/io.py	96.15% <100.00%> (+0.04%)	⬆️

... and 6 files with indirect coverage changes

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