refactor: merge _stop into stop, add thread_start helper

- Merge _stop() into stop() in ModuleBase (removes unnecessary indirection)
- Update all callers of _stop() to use stop() directly
- Add thread_start() convenience function that creates + starts a ModuleThread

Author: jeff-hykin

dimos/core/module.py

@@ -126,9 +126,6 @@ def start(self) -> None:
 
     @rpc
     def stop(self) -> None:
-        self._stop()
-
-    def _stop(self) -> None:
         with self.mod_state as state:
             if state == "stopped":
                 return

dimos/core/test_core.py

@@ -89,7 +89,7 @@ def test_classmethods() -> None:
     )
     assert hasattr(class_rpcs["start"], "__rpc__"), "start should have __rpc__ attribute"
 
-    nav._stop()
+    nav.stop()
 
 
 @pytest.mark.slow

dimos/perception/detection/conftest.py

@@ -221,7 +221,7 @@ def moment_provider(**kwargs) -> Moment2D:
     yield moment_provider
 
     moment_provider.cache_clear()
-    module._stop()
+    module.stop()
 
 
 @pytest.fixture(scope="session")
@@ -256,7 +256,7 @@ def moment_provider(**kwargs) -> Moment3D:
     yield moment_provider
     moment_provider.cache_clear()
     if module is not None:
-        module._stop()
+        module.stop()
 
 
 @pytest.fixture(scope="session")
@@ -290,9 +290,9 @@ def object_db_module(get_moment):
 
     yield moduleDB
 
-    module2d._stop()
-    module3d._stop()
-    moduleDB._stop()
+    module2d.stop()
+    module3d.stop()
+    moduleDB.stop()
 
 
 @pytest.fixture(scope="session")

dimos/perception/detection/reid/test_module.py

@@ -40,5 +40,5 @@ def test_reid_ingress(imageDetections2d) -> None:
     print("Processing detections through ReidModule...")
     reid_module.annotations._transport = LCMTransport("/annotations", ImageAnnotations)
     reid_module.ingress(imageDetections2d)
-    reid_module._stop()
+    reid_module.stop()
     print("✓ ReidModule ingress test completed successfully")