A wireless communication method, comprising: determining, by a terminal device, that a first resource is available; and when a first condition is met, performing, by the terminal device, media access control, MAC, physical data unit, PDU, packaging or information multiplexing on the first resource, wherein the first resource is a configured grant, CG, resource or a dynamic grant, DG, resource; the first condition is indicated or configured by a network device; wherein the first condition is that correspondence between logical channels and resources is not configured, wherein the performing, by the terminal device, MAC PDU packaging or information multiplexing on the first resource comprises: multiplexing, by the terminal device, onto the first resource the logical channel that meets logical channel prioritization, LCP, mapping condition; or determining, by the terminal device, to ignore the first resource, wherein the LCP mapping condition includes at least one of the followings: allowed subcarrier spacing, SCS, list; maximum physical uplink shared channel, PUSCH, duration; allowed CG type 1; and allowed serving cells, wherein a CG type 1 resource is a CG resource that is activated as along as being configured by radio resource control, RRC. determining, by a terminal device, that a first resource is available; and when a first condition is met, performing, by the terminal device, media access control, MAC, physical data unit, PDU, packaging or information multiplexing on the first resource, wherein the first resource is a configured grant, CG, resource or a dynamic grant, DG, resource; the first condition is indicated or configured by a network device; wherein the first condition is that correspondence between logical channels and resources is not configured, wherein the performing, by the terminal device, MAC PDU packaging or information multiplexing on the first resource comprises: multiplexing, by the terminal device, onto the first resource the logical channel that meets logical channel prioritization, LCP, mapping condition; or determining, by the terminal device, to ignore the first resource, wherein the LCP mapping condition includes at least one of the followings: allowed subcarrier spacing, SCS, list; maximum physical uplink shared channel, PUSCH, duration; allowed CG type 1; and allowed serving cells, wherein a CG type 1 resource is a CG resource that is activated as along as being configured by radio resource control, RRC. multiplexing, by the terminal device, onto the first resource the logical channel that meets logical channel prioritization, LCP, mapping condition; or determining, by the terminal device, to ignore the first resource, wherein the LCP mapping condition includes at least one of the followings: allowed subcarrier spacing, SCS, list; maximum physical uplink shared channel, PUSCH, duration; allowed CG type 1; and allowed serving cells, wherein a CG type 1 resource is a CG resource that is activated as along as being configured by radio resource control, RRC. allowed subcarrier spacing, SCS, list; maximum physical uplink shared channel, PUSCH, duration; allowed CG type 1; and allowed serving cells, wherein a CG type 1 resource is a CG resource that is activated as along as being configured by radio resource control, RRC.