How to ask runtime permissions for Camera in Android , Runtime storage permissions

I am doing an application to scan barcodes on a button click and it was working fine up to Lollipop versions. When I came to Marshmallow it stopped working. This is the error:

camerabase an error occurred while connecting to camera 0

It forces me to turn on permission by:

Settings --> application --> my app --> camera.

My question is how to allow camera permission to my app automatically in Marshmallow or by asking the user to turn on camera at runtime. A screen shot:

Below I have written a code for granting a runtime permissions for Camera, There is an Array of String in which you can give multiple requests granting as which is needed at runtime.

public class MainActivity extends AppCompatActivity {
    private static final int PERMISSION_REQUEST_CODE = 200;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        if (checkPermission()) {
        //main logic or main code

       // . write your main code to execute, It will execute if the permission is already given.

        } else {
            requestPermission();
        }
    }

    private boolean checkPermission() {
        if (ContextCompat.checkSelfPermission(this, Manifest.permission.CAMERA)
                != PackageManager.PERMISSION_GRANTED) {
            // Permission is not granted
            return false;
        }
        return true;
    }

    private void requestPermission() {

        ActivityCompat.requestPermissions(this,
                new String[]{Manifest.permission.CAMERA},
                PERMISSION_REQUEST_CODE);
    }

    @Override
    public void onRequestPermissionsResult(int requestCode, String permissions[], int[] grantResults) {
        switch (requestCode) {
            case PERMISSION_REQUEST_CODE:
                if (grantResults.length > 0 && grantResults[0] == PackageManager.PERMISSION_GRANTED) {
                    Toast.makeText(getApplicationContext(), "Permission Granted", Toast.LENGTH_SHORT).show();

                    // main logic
                } else {
                    Toast.makeText(getApplicationContext(), "Permission Denied", Toast.LENGTH_SHORT).show();
                    if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
                        if (ContextCompat.checkSelfPermission(this, Manifest.permission.CAMERA)
                                != PackageManager.PERMISSION_GRANTED) {
                            showMessageOKCancel("You need to allow access permissions",
                                    new DialogInterface.OnClickListener() {
                                        @Override
                                        public void onClick(DialogInterface dialog, int which) {
                                            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
                                                requestPermission();
                                            }
                                        }
                                    });
                        }
                    }
                }
                break;
        }
    }

    private void showMessageOKCancel(String message, DialogInterface.OnClickListener okListener) {
        new AlertDialog.Builder(MainActivity.this)
                .setMessage(message)
                .setPositiveButton("OK", okListener)
                .setNegativeButton("Cancel", null)
                .create()
                .show();
    }
}