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Documentation: Add initial documentation on concurrency #2034

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# Concurrency

In general, gRPC-go provides a concurrency-friendly API. What follows are some
guidelines.

## Clients

A [ClientConn][client-conn] can safely be accessed concurrently. Using
[helloworld][helloworld] as an example, one could share the `ClientConn` across
multiple goroutines to create multiple `GreeterClient` types. In this case, RPCs
would be sent in parallel.

## Streams

When using streams, one must take care to avoid calling either `SendMsg` or
`RecvMsg` multiple times against the same [Stream][stream] from different
goroutines. In other words, it's safe to have a goroutine calling `SendMsg` and
another goroutine calling `RecvMsg` on the same stream at the same time. But it
is not safe to call `SendMsg` on the same stream in different goroutines, or to
call `RecvMsg` on the same stream in different goroutines.

## Servers

Each RPC handler attached to a registered server will be invoked in its own
goroutine. For example, [SayHello][say-hello] will be invoked in its own
goroutine. The same is true for service handlers for streaming RPCs, as seen
in the route guide example [here][route-guide-stream].

[helloworld]: https://github.com/grpc/grpc-go/blob/master/examples/helloworld/greeter_client/main.go#L43
[client-conn]: https://godoc.org/google.golang.org/grpc#ClientConn
[stream]: https://godoc.org/google.golang.org/grpc#Stream
[say-hello]: https://github.com/grpc/grpc-go/blob/master/examples/helloworld/greeter_server/main.go#L41
[route-guide-stream]: https://github.com/grpc/grpc-go/blob/master/examples/route_guide/server/server.go#L126
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