With a glycol system, in addition to a collector and pump, you'll need a heat exchanger for the bath water, and an expansion tank - though I don't know that you need a bladder-type like in a pressurized system? maybe you could have/use an automotive expansion tank.
With a drain-back system (what you referred to as "open circuit") you could directly use the bath water. A vacuum breaker at the high point of the system, and careful plumbing with a continuous downward slope should get it drained.
A solar pump might cover most of the control, by default, NO sun = NO heat = NO pumping, but some thermostatic control would probably be in order.
If you haven't found it yet,
builditsolar.com is a great resource.