andriod6.0系统把权限分为两个级别
普通权限：即只在清单文件中声明即可。
危险权限：在android6.0之前在清单文件中声明就行，在android6.0之后还需要动态申请权限。
直接上代码：

/*** Created by zyb on 2020/5/18* Description：权限处理*/
public class PermissionUtils {private static final int PERMISSIONS_REQUEST_CODE = 42;private final Activity mActivity;private RequestPermission mRequestPermission;private static final String TAG = "Permission";public PermissionUtils(Activity activity) {this.mActivity = activity;}private boolean isGranted(String permission) {return !(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) || ContextCompat.checkSelfPermission(mActivity, permission) == PackageManager.PERMISSION_GRANTED;}public interface RequestPermission {/*** 权限请求成功*/void onRequestPermissionSuccess();/*** 用户拒绝了权限请求, 权限请求失败, 但还可以继续请求该权限** @param permissions 请求失败的权限名*/void onRequestPermissionFailure(List<String> permissions);/*** 用户拒绝了权限请求并且用户选择了以后不再询问, 权限请求失败, 这时将不能继续请求该权限, 需要提示用户进入设置页面打开该权限** @param permissions 请求失败的权限名*/void onRequestPermissionFailureWithAskNeverAgain(List<String> permissions);}public void requestPermission(RequestPermission requestPermission, String... permissions) {this.mRequestPermission = requestPermission;if (permissions == null || permissions.length == 0) return;List<String> needRequest = new ArrayList<>();// 过滤掉已经申请过的权限for (String permission : permissions) {if (!isGranted(permission)) {needRequest.add(permission);}}//全部权限都已经申请过，直接执行操作if (needRequest.isEmpty()) {mRequestPermission.onRequestPermissionSuccess();} else {//没有申请过,则开始申请int needRequestSize = needRequest.size();ActivityCompat.requestPermissions(mActivity, needRequest.toArray(new String[needRequestSize]), PERMISSIONS_REQUEST_CODE);}}public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {if (requestCode != PERMISSIONS_REQUEST_CODE) return;List<String> failurePermissions = new ArrayList<>();List<String> askNeverAgainPermissions = new ArrayList<>();for (int i = 0; i < permissions.length; i++) {// 权限申请失败if (grantResults[i] != PackageManager.PERMISSION_GRANTED) {// 是否点击了不在询问 true 没点击  false 点击了String permission = permissions[i];if (ActivityCompat.shouldShowRequestPermissionRationale(mActivity, permission)) {failurePermissions.add(permission);} else {askNeverAgainPermissions.add(permission);}}}if (failurePermissions.size() > 0) {Log.d(TAG, "Request permissions failure");mRequestPermission.onRequestPermissionFailure(failurePermissions);}if (askNeverAgainPermissions.size() > 0) {Log.d(TAG, "Request permissions failure with ask never again");mRequestPermission.onRequestPermissionFailureWithAskNeverAgain(askNeverAgainPermissions);}if (failurePermissions.size() == 0 && askNeverAgainPermissions.size() == 0) {Log.d(TAG, "Request permissions success");mRequestPermission.onRequestPermissionSuccess();}}
}

在Activity或Fragment中使用

    private PermissionUtils mPermissionUtils;private static final int PERMISSION_ASK_CODE = 0;@Overrideprotected void onCreate(Bundle savedInstanceState) {super.onCreate(savedInstanceState);setContentView(R.layout.activity_main);mPermissionUtils = new PermissionUtils(this);mPermissionUtils.requestPermission(new PermissionUtils.RequestPermission() {@Overridepublic void onRequestPermissionSuccess() {Toast.makeText(MainActivity.this, "Success", Toast.LENGTH_LONG).show();}@Overridepublic void onRequestPermissionFailure(List<String> permissions) {Toast.makeText(MainActivity.this, "Failure:" + permissions.toString(), Toast.LENGTH_LONG).show();}@Overridepublic void onRequestPermissionFailureWithAskNeverAgain(List<String> permissions) {Toast.makeText(MainActivity.this, "AskNeverAgain:" + permissions.toString(), Toast.LENGTH_LONG).show();new AlertDialog.Builder(MainActivity.this).setMessage("请打开已禁止的权限").setPositiveButton("确定", new DialogInterface.OnClickListener() {@Overridepublic void onClick(DialogInterface dialog, int which) {dialog.dismiss();Intent intent = new Intent(Settings.ACTION_APPLICATION_DETAILS_SETTINGS);Uri uri = Uri.fromParts("package", MainActivity.this.getPackageName(), null);intent.setData(uri);try {MainActivity.this.startActivityForResult(intent, PERMISSION_ASK_CODE);} catch (Exception e) {e.printStackTrace();}}}).setNegativeButton("取消", new DialogInterface.OnClickListener() {@Overridepublic void onClick(DialogInterface dialog, int which) {MainActivity.this.finish();}}).show();}}, Manifest.permission.CAMERA, Manifest.permission.RECORD_AUDIO);}@Overridepublic void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {super.onRequestPermissionsResult(requestCode, permissions, grantResults);mPermissionUtils.onRequestPermissionsResult(requestCode, permissions, grantResults);}@Overrideprotected void onActivityResult(int requestCode, int resultCode, @Nullable Intent data) {super.onActivityResult(requestCode, resultCode, data);if (requestCode == PERMISSION_ASK_CODE) {Toast.makeText(MainActivity.this, "系统权限页返回", Toast.LENGTH_LONG).show();}}