Prices are listed on the menu. Maybe the menu has a tiny tiny print somewhere about service charges being added (or maybe it even doesn't!). When it comes to the bill, there it is.
You're already paying for the service in the cost, just as you're paying for someone to prepare whatever you're ordering if it's being prepared, and for the fact that you're there in a restaurant at all.
AIBU to think that if restaurants want to charge you 10 percent more for everything, they should raise their actual prices by 10 percent openly?