Zero risk for HIV.
As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
You had NO RISK for HIV and you do not need to test.
If you put a condom-protected penis in your mouth and that condom had stains on it from a previous event, you may be at risk for a bacterial infection or an STD. You can ask in the STDs forum:
http://www.medhelp.org/forums/STDs---STIs/show/98
But no chance you got HIV.