PrintInvoice.php

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<?php
namespace Magento\Sales\Controller\Guest;

use Magento\Framework\App\Action\Context;
use Magento\Framework\View\Result\PageFactory;

class PrintInvoice extends \Magento\Sales\Controller\AbstractController\PrintInvoice
{
    protected $orderLoader;

    public function __construct(
        Context $context,
        OrderViewAuthorization $orderAuthorization,
        \Magento\Framework\Registry $registry,
        PageFactory $resultPageFactory,
        OrderLoader $orderLoader
    ) {
        $this->orderLoader = $orderLoader;
        parent::__construct(
            $context,
            $orderAuthorization,
            $registry,
            $resultPageFactory
        );
    }

    public function execute()
    {
        $result = $this->orderLoader->load($this->_request);
        if ($result instanceof \Magento\Framework\Controller\ResultInterface) {
            return $result;
        }

        $invoiceId = (int)$this->getRequest()->getParam('invoice_id');
        if ($invoiceId) {
            $invoice = $this->_objectManager->create(
                \Magento\Sales\Api\InvoiceRepositoryInterface::class
            )->get($invoiceId);
            $order = $invoice->getOrder();
        } else {
            $order = $this->_coreRegistry->registry('current_order');
        }

        if ($this->orderAuthorization->canView($order)) {
            if (isset($invoice)) {
                $this->_coreRegistry->register('current_invoice', $invoice);
            }
            return $this->resultPageFactory->create()->addHandle('print');
        } else {
            return $this->resultRedirectFactory->create()->setPath('sales/guest/form');
        }
    }
}