ABS lite came on after a grinding sound and clank - what is issue and cost? on 2001 Ford Explorer

heard rubbing/metallic clank and grinding while driving down the road - than shaking and hard to handle or steer than ABS lite comes on and no brakes - hard to control. now brake pedal goes to floor - what is the issue? and avergae cost to fix?

Asked by for the 2001 Ford Explorer