A wireless communication method, comprising: determining (S310), by a terminal device , that a first resource is available; and when a first condition is met, performing (S320), 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 (S310), by a terminal device , that a first resource is available; and when a first condition is met, performing (S320), 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. <EOS>