PrintAction.php

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

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

abstract class PrintAction extends \Magento\Framework\App\Action\Action
{
    protected $orderLoader;

    protected $resultPageFactory;

    public function __construct(
        Context $context,
        OrderLoaderInterface $orderLoader,
        PageFactory $resultPageFactory
    ) {
        $this->orderLoader = $orderLoader;
        $this->resultPageFactory = $resultPageFactory;
        parent::__construct($context);
    }

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

        $resultPage = $this->resultPageFactory->create();
        $resultPage->addHandle('print');
        return $resultPage;
    }
}