Hiv risk from frottage and mutual masturbation

I am a gay male, my partner is hiv+ on therapy just since two weeks. We always have protected sex, but a few days ago, since we did not have condoms with us, we engaged in penis to penis frottage, possibly with precum and mutual masturbation. At the end he came on my belly and then I went to clean myself. Is there any risk in these activities. Would there be risk involved if his sperm got in contact with the glans (glands) or foreskin of my penis?

Thanx so much for your help and support

[Teak]

Not an HIV concern.