After a bit of digging, I was able to find this in the documentation:
There is a built-in variable ${TEST NAME}
, so my test case would look like:
*** Settings ***
Test Setup Load Test Data
*** Keywords ***
Load Test Data
${data}= Get File ${TEST NAME}.txt
Set Test Variable ${data} ${data}
*** Testcases ***
First Test
Log ${data}
Second Test
Log ${data}