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…penthread#10945) This commit refactors COAPS classes, renaming the `CoapSecure` class as `CoapSecureBase`, which is the base class of `Tmf::SecureAgent` and a newly added `ApplicationCoapSecure` class. This change simplifies the code and class hierarchy and ensures that the Application COAP secure related functions are only provided by `ApplicationCoapSecure` and when the corresponding config feature `OPENTHREAD_CONFIG_COAP_SECURE_API_ENABLE` is enabled.
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