Fix failed action handling

[pascalauroboa]

Public API Changes
Adds status and result as additional input variables to user provided failedCallback when using actions.

Description
Currently when an action fails regardless if it is the connection layer or the goal itself the failedCallback is called which only provides me with a stringified version of the result. I do not want to parse strings to identify why my action failed. This adds the goal status and result as additional inputs which I can parse in my code. PR #1103 broke previous behaviour where only failed action due to communication executed the failedCallback callback. It is also possible to simplify this by only providing one callback where the user has to distinguish itself what failed or by restoring previous behaviour that the result is irrelevant for the failedCallback.

Closes #1192

[EzraBrooks]

This is clearly a better way to do this, thank you.

I dislike/regret the fact that there are still string error messages in this library in general. error here should just be of type GoalError so no string parsing is needed there either. But I guess that's a breaking change and this isn't!