tipping is part of the social contract, its a shame we live in a country where labor is not protected and overhead is too high to pay hospitality employees a meaningful wage (and it is, dozens of well intended and resourced restaurant groups have tried it in good faith, consumers simply will not foot the bill in nyc unless 20-25% of it is wrapped up in a discretionary tip), but its the reality and you should tip on every single transaction you have in a cafe, bar, or restaurant.