Would cps do anything?

My dad is really sketchy. He'll comment on my body parts,smack and grab my butt,comment on my friends butts, puts his hand in the shower while I take one,tells my to sleep with an over large shirt with no bra, he is always on me,cuddles with me, I looked on his history he watches Teen Anal Porn, and it's just weird. My grandpa is also the same. He told my best friend that he had a wet dream about her before. He is also legally insane. My living conditions are really bad too. We have seven people living in a three bedroom house. I have a room with no door, it's more like a game room. My brother lives in a garage too. We never have food and there is always more kids over too. Would cps do anything? If they do, where would I go? My mom hasn't been in my life since I was four, she have three other kids, my grandpa can't take me under, my aunt is the reason we have poor living conditions. So would I stay with a friend?