In Germany it seems to be pretty much automatic, pretty much all the time. In France and Spain it all depends – presumably on social subtleties that you have to be French or Spanish to understand. In Italy, why would you even bother?
When, and how much, to tip is a question that has been vexing visitors to Europe for as long as people have been travelling around the continent. Outside their own country, it seems even Europeans don’t know the answer.