So the pump interface is labeled "DIGITAL INPUT" is on the right and you would connect the icom and STEP1 directly to one of the valve interfaces on the GL-235 board. Ignore the relay contacts on the left. They are not required.
However, the valve interface on the GL-235 board has three terminals. You need to experiment to find out which two to use. One is common, the other two are used to turn the valve on with solar and off when solar turns off. If you have a volt meter, you can test the terminals to see which pair has voltage when solar is engaged. Otherwise, trial and error will work too.