public void createControllerNetworkSubscriber(
     PeriodicThreadScheduler scheduler, PacketCommunicator packetCommunicator) {
   ControllerNetworkSubscriber controllerNetworkSubscriber =
       new ControllerNetworkSubscriber(
           commandInputManager, statusOutputManager, scheduler, packetCommunicator);
   closeableAndDisposableRegistry.registerCloseableAndDisposable(controllerNetworkSubscriber);
 }
 @Override
 public void closeAndDispose() {
   closeableAndDisposableRegistry.closeAndDispose();
 }