Hi,

Yeah. It surely was a lucid dream
Congrats

You woke up probably because you didn't stabilize dream and because you've gotten excited suddenly
I'd suggest you reading up this:
Dream Stabilization and Clarity Tutorial - Lucid Dreaming - Dream Views
Explains how to stabilize dream and increase it's clarity.
If dream is highly stable then even strong emotions shouldn't instantly destroy it
- Goodluck