🚨 Error: failed to execute a task:: No messaging channel: undefined

Details
---
**Error report:** [link](http://go/ampe/CIOEyprF1en-OQ)
**First seen:** Sep 19, 2017
**Frequency:** ~ 3,104/day

Stacktrace
---

Error: failed to execute a task:: No messaging channel: undefined

    at Error (src/service/viewer-impl.js:942:23)

    at getChannelError (src/service/viewer-impl.js:811:30)

    at sendMessageInternal_ (src/service/viewer-impl.js:782:16)

    at sendMessageAwaitResponse (src/service/history-impl.js:942:4)

    at push (src/service/history-impl.js:99:27)

    at callback (src/service/history-impl.js:272:21)

    at deque_ (src/service/history-impl.js:256:11)

    at enque_ (src/service/history-impl.js:98:16)

    at push (extensions/amp-next-page/1.0/service.js:491:18)

    at initializeHistory (extensions/amp-next-page/1.0/service.js:206:9)

Notes
---
`@zhouyx` modified `src/service/viewer-impl.js:940-942` in [#25931](https://github.com/ampproject/amphtml/pull/25931) (Dec 17, 2019)
`@muxin` modified `src/service/viewer-impl.js:810-814` in [#6535](https://github.com/ampproject/amphtml/pull/6535) (Dec 7, 2016)
`@muxin` modified `src/service/viewer-impl.js:781-788` in [#6508](https://github.com/ampproject/amphtml/pull/6508) (Dec 7, 2016)
`@choumx` modified `src/service/history-impl.js:942-942` in [#24316](https://github.com/ampproject/amphtml/pull/24316) (Sep 3, 2019)
`@renovate-bot` modified `src/service/history-impl.js:99-99` in [#27350](https://github.com/ampproject/amphtml/pull/27350) (Mar 30, 2020)
`@cramforce` modified `src/service/history-impl.js:255-276` in [#1039](https://github.com/ampproject/amphtml/pull/1039) (Dec 3, 2015)
`@cramforce` modified `src/service/history-impl.js:255-276` in [#1039](https://github.com/ampproject/amphtml/pull/1039) (Dec 3, 2015)
`@cramforce` modified `src/service/history-impl.js:98-98` in [#1039](https://github.com/ampproject/amphtml/pull/1039) (Dec 3, 2015)
`@wassgha` modified `extensions/amp-next-page/1.0/service.js:491-494` in [#25971](https://github.com/ampproject/amphtml/pull/25971) (Dec 17, 2019)
`@wassgha` modified `extensions/amp-next-page/1.0/service.js:204-207` in [#25971](https://github.com/ampproject/amphtml/pull/25971) (Dec 17, 2019)

**Seen in:**
- 03-24 Stable (0330+2)
- 03-26 Beta (1048+2)
- 03-26 Experiment-B (1048+2)
- 03-26 Stable (1048+2)
- 04-06 Nightly (0342)
- +12 more

/cc @ampproject/release-on-duty