You did not have a risk of hiv infection and you do not need to test. Condoms have been proven to be very effective when it comes to hiv infection. As Andy said to you, using two condoms at once can make them break more easily, but you were lucky and yours did not break. You are ok this time out.
If there is a next time, make sure you use only one condom at a time. Please read through the condom and lube links in my signature line so you know the correct way to use condoms. We're not born knowing this information, so get reading.