Inside your view access your router service :
$this->router->getControllerName()
$this->router->getActionName()
or if you are using volt you can use the short hand
router.getControllerName()
router.getActionName()
That will work for your use case, but if you find that your menu logic becomes too unwieldy, there are several methods to achieve what you are attempting to do.
The easiest I find is to use javascript, but that doesn't have a fallback if they have js disabled(1%). If you want to cover 100% of your audience you could use a method like the Phalcon team did in INVO using an element library: https://github.com/phalcon/invo/blob/master/app/library/Elements.php