The params and types are parallel arrays. All you should have to do is add your placeholder for the f.foo value and add in the correct PDO type in types argument.
$SQL = "SELECT f.foo, b.bar
FROM Foo f LEFT JOIN Bar b
WHERE f.foo = ? AND b.bar IN (?)";
$result = $this->connection
->executeQuery($SQL, array($foo, $bar_array),array(
\PDO::PARAM_INT,
\Doctrine\DBAL\Connection::PARAM_INT_ARRAY
))->fetchAll();
You can read the manual for more information.