S.P.
If you live in Pa, the law states if the father doesn't see the child within 6 months, he looses rights to his child. You should get a lawyer and discuss this with the lawyer.
In New York, you have to pay child support to get visitation. I would think since he lives there, you wouldn't have to let him see him.
He is not following the order of the courts, for visitation, and can be in legal trouble, never mind, not being able to see the child. He can be charged for breaking the court order, just as you could if you denied him visitation. You need to go report this to the court where he had gotten visitation.
Of course this will hurt the child no ever knowing if his dad is coming to get him or not. It is not fair to him, to let his dad play games like this. It sounds as if this man has some real issues. Report him to the court. He is abandoning his child.
You should get in touch with the other grandparents, they have a right to know they have a grandchild. Go meet them first, don't just bring your kid to a family you don't know. See how they react, and what they are like, go from there. If then you feel comfortable with it, let them meet your child. You have to be careful, of course, but they may be hurting from their sons behavior as well as you and your son. They might be happy to meet the two of you. You just need to meet them first, to make sure they are decent people, and that they will accept your son. you don't want to subject him to more rejection, it can be tough on a kid.