Is it possible to detect stage failure in runing Jenkins pipeline using GraphListener?

Im having troubles detecting when a stage has finished with failures using GraphListener.Synchronous . So far I've tried:

• Detect FlowNodes with ErrorAction, none appeared
• Detect AtomNodes (the ones with "skipped due to previuous failure(s)"), but couldn't.
• Access to rawBuild.result, which is null before the build finishes.
• Basically checking any public method or field involving currentBuild, currentBuild.rawBuild, Executor, WorkUnit,... But I haven't found anything so far.

Is there any way to detect failures on stages using a listener on the execution for declarative pipelines? Where CpsScript or CpsFlowExecution stores which stage failed so I can access that field too? Does a plugin need to be developed for this kind of tasks?