99 Dodge Dakota braking problem?

My abs and brake lights just came on and will not go off. the emergency brake seems to work but when driving, the brake pedal has very little compression when pushing it down. I have to brake and then let the peddle rise back up for a second then brake again in order to come to a complete stop. Or else the brake peddle will be completely pressed to the floor and the truck will not come to a complete stop. Brake fluid is full. Really scared to continue driving if I have to keep pumping the brakes to come to a complete stop. Any ideas what the issue could be?