Good find. I'm familiar with Terrance's work as a poet, in fact, he was nominated for a National book award a couple of years ago.
However, Terrance did not write this book, For White Folks Who Teach in the Hood... and the Rest of Y'all Too: Reality Pedagogy and Urban Education was written by Christopher Emdin.
As a teacher, I think much of the failure in the classroom has less the student (or their families) and more to do with the administration. The can squash a potentially good teacher, demoralize and force good teachers how, and fail to hold crappy teachers accountable.
My experience tells me if you give good teachers a decent wage and an opportunity to do their thing they will shine and the students will benefit.
I can't speak to this book, but reinventing the pedagogical wheel has not helped Black boys since we relinquished responsibility.