Sync two taxonomies from two CPTs in toolset relationship

// Manage  Taxonomies
function tax_hadle_func($post_id, $post) {

$terms = wp_get_post_terms($post_id, 'product_cat', array("fields" => "all"));
$boat_ids = toolset_get_related_posts($post_id, 'boat-product', 'child');
$ids = array_map(function ($term) {
return get_term_by('slug', $term->slug, 'boat-cat')->term_id;
}, $terms);
// print_r( $ids );

remove_action('save_post', 'tax_hadle_func',30,2);
add_action('save_post', 'tax_hadle_func',30,2);
foreach ($boat_ids as $boat_id) {
wp_set_object_terms($boat_id, $ids, 'boat-cat', true );
}
}
add_action('save_post', 'tax_hadle_func',30,2);