No this is not AIDS. This is most likely either chlamydia trachomatis or neisseria gonorrhea, which are the most commonly sexually transmitted infections and cause penile discharge like the one you're describing. And yes doxycycline will cure you from this infection. But the fact that you have had unprotected sexual intercourse with a partner whose HIV status is unknown and from whom you contacted a sexually transmitted infection is an indication to do an HIV test within 4-6 weeks if exposure.
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It is recommended that all individuals see a Family Doctor for a full medical examination annually. Adults should get their blood pressure checked (US Preventive Task Force), a flu vaccine (CDC) and more each year.