There is no clear disclosure that you will need to pay more than the listed prices to get your food as you should.

Also, if you go to a counter service business, and the point of sale system asks you to tip, again, the terms were not set prior to engaging in the transaction.

In another comment, you write:

> You're going to have bad relationships (and experiences) with American restaurants if you make a habit of undertipping.

I classify this as the restaurant (and waiter) violating the terms. You do not get to claim your prices are low and then spring and increase on people, even if it is a “cultural” norm.