When a person signs a written promise to appear at the time and place specified in the written promise to appear and has not posted bail as provided in California Penal Code § 853.6, the magistrate shall issue and have delivered for execution a warrant for the person’s arrest within 20 days after his or her failure to appear as promised, or, if the person promises to appear before an officer authorized to accept bail other than a magistrate and fails to do so on or before the date which he or she promised to appear, then, within 20 days after the delivery of the written promise to appear by the officer to a magistrate having jurisdiction over the offense.