Failure.php

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<?php
namespace Magento\Checkout\Controller\Onepage;

class Failure extends \Magento\Checkout\Controller\Onepage
{
    public function execute()
    {
        $lastQuoteId = $this->getOnepage()->getCheckout()->getLastQuoteId();
        $lastOrderId = $this->getOnepage()->getCheckout()->getLastOrderId();

        if (!$lastQuoteId || !$lastOrderId) {
            return $this->resultRedirectFactory->create()->setPath('checkout/cart');
        }

        return $this->resultPageFactory->create();
    }
}